Download Omron FQM1-MMA21 Home Security System User Manual

Cat. No. O010-E1-01
FQM1 Series
FQM1-CM001
FQM1-MMP21
FQM1-MMA21
Flexible Motion Controller
OPERATION MANUAL
FQM1 Series
FQM1-CM001
FQM1-MMP21
FQM1-MMA21
Flexible Motion Controller
Operation Manual
Produced November 2004
iv
Notice:
OMRON products are manufactured for use according to proper procedures
by a qualified operator and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this
manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.
!DANGER
Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
!WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
!Caution
Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also
capitalized when it refers to an OMRON product, regardless of whether or not
it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON
products, often means “word” and is abbreviated “Wd” in documentation in
this sense.
The abbreviation “CM” means Coordinator Module and the abbreviation “MM”
means Motion Control Module.
Visual Aids
The following headings appear in the left column of the manual to help you
locate different types of information.
Note Indicates information of particular interest for efficient and convenient operation of the product.
1,2,3...
1. Indicates lists of one sort or another, such as procedures, checklists, etc.
 OMRON, 2004
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
v
vi
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
1
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiv
2
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiv
3
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiv
4
Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xix
5
Data Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xxii
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . .
1
1-1
Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1-2
FQM1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1-3
Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
1-4
CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
1-5
Expanded System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
1-6
Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
1-7
Function Tables Arranged by Purpose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
SECTION 2
Specifications and Nomenclature . . . . . . . . . . . . . . . . . . . . .
31
2-1
List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
2-2
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
2-3
Coordinator Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
2-4
Motion Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
2-5
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
2-6
Module Current Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
2-7
Memory Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
SECTION 3
Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
3-1
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
3-2
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
3-3
Wiring Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
3-4
Wiring Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
3-5
List of FQM1 Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
3-6
Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
85
SECTION 4
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91
4-1
Coordinator Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
4-2
Motion Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
4-3
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99
vii
TABLE OF CONTENTS
4-4
Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
SECTION 5
Module Functions and Data Exchange . . . . . . . . . . . . . . . . . 103
5-1
Synchronous Operation between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
5-2
Data Exchange between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
105
5-3
Cyclic Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
5-4
Synchronous Data Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
5-5
DM Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
5-6
Cycle Time Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
5-7
Operation Settings at Startup and Maintenance Functions . . . . . . . . . . . . . . . . . . . . . . . . . .
118
5-8
Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
SECTION 6
Coordinator Module Functions . . . . . . . . . . . . . . . . . . . . . . . 123
6-1
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124
SECTION 7
Motion Control Module Functions . . . . . . . . . . . . . . . . . . . . 137
7-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
139
7-2
Interrupt Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
7-3
Input Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
7-4
Interval Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
7-5
Pulse Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
7-6
Pulse Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
167
7-7
Functions for Servo Drivers Compatible with Absolute Encoders . . . . . . . . . . . . . . . . . . . .
199
7-8
Virtual Pulse Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
212
7-9
Analog Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
215
7-10 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
225
SECTION 8
Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . 233
8-1
CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
234
8-2
Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
235
SECTION 9
Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
viii
9-1
Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
242
9-2
Error Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
243
9-3
Troubleshooting Problems in Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
256
TABLE OF CONTENTS
SECTION 10
Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 259
10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendices
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
260
263
A
I/O Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
299
B
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations . . . . . . . . . . . . . . . . . .
311
C
Auxiliary Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
349
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
ix
TABLE OF CONTENTS
x
About this Manual:
This manual describes the operation of the Coordinator Module and Motion Control Modules of the
FQM1-series Flexible Motion Controller.
Please read this manual and all related manuals listed in the table below and be sure you understand
information provided before attempting to program or use FQM1-series Flexible Motion Controllers in a
control system.
Name
FQM1 Series
FQM1-CM001, FQM1-MMP21, FQM1-MMA21
Flexible Motion Controller Operation Manual
(this manual)
Cat. No.
Contents
O010
This manual provides an overview of and describes
the following information for the FQM1-series Flexible
Motion Controller: features, system configuration,
system design, installation, wiring, maintenance, I/O
memory allocation, troubleshooting, etc.
O011
Describes the ladder diagram programming instrucFQM1 Series
tions supported by FQM1-series Flexible Motion ConFQM1-CM001, FQM1-MMP21, FQM1-MMA21
troller. Use this manual together with the Operation
Flexible Motion Controller
Manual (Cat. No. O010).
Instructions Reference Manual
SYSMAC WS02-CXP@@-E
W437
Provides information on how to use the CX-ProgramCX-Programmer Operation Manual Version 5.@
mer, a Windows-based programming and monitoring
package for OMRON PLCs.
Section 1 describes the features of the FQM1 and its system configuration.
Section 2 provides the specifications of the FQM1 and describes the parts and their functions on the
Coordinator Module and Motion Control Modules.
Section 3 describes how to install and wire the FQM1
Section 4 describes the operation of the FQM1.
Section 5 describes the functions common to both the Coordinator Module and Motion Control Modules and the methods to transfer data between the Coordinator Module and Motion Control Modules.
Section 6 describes the serial communications functions, which are supported only by the Coordinator
Module.
Section 7 describes the various functions supported by the Motion Control Module.
Section 8 explains how to connect a personal computer running the CX-Programmer to the FQM1.
Section 9 provides information on identifying and correcting errors that occur during FQM1 operation.
Section 10 provides inspection and maintenance information.
The Appendices provide information on programming, I/O Memory, System Setup, and built-in I/O
allocations, and Auxiliary Area allocations.
xi
xii
PRECAUTIONS
This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices.
The information contained in this section is important for the safe and reliable application of the FQM1-series
Flexible Motion Controller. You must read this section and understand the information contained before attempting
to set up or operate a control system using the FQM1-series Flexible Motion Controller.
1
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiv
2
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiv
3
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiv
4
Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xix
4-1
Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xix
4-2
Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xix
4-3
Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xix
4-5
Relay Output Noise Reduction Methods . . . . . . . . . . . . . . . . . . . . .
xx
Data Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xxii
5
xiii
1
Intended Audience
1
Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of managing FA systems and facilities.
2
General Precautions
The user must operate the product according to the performance specifications described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, petrochemical plants, and other systems,
machines, and equipment that may have a serious influence on lives and
property if used improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
!WARNING It is extremely important that the FQM1 be used for the specified purpose and
under the specified conditions, especially in applications that can directly or
indirectly affect human life. You must consult with your OMRON representative before applying a FQM1 System to the above-mentioned applications.
3
Safety Precautions
!WARNING Do not attempt to take any Modules apart while the power is being supplied.
Doing so may result in electric shock.
!WARNING Do not touch any of the terminals or terminal blocks while the power is being
supplied. Doing so may result in electric shock.
!WARNING Do not attempt to disassemble, repair, or modify any Modules. Any attempt to
do so may result in malfunction, fire, or electric shock.
!WARNING Provide safety measures in external circuits, i.e., not in the Flexible Motion
Controller (referred to as the “FQM1”), to ensure safety in the system if an
abnormality occurs due to malfunction of the FQM1 or another external factor
affecting the FQM1 operation. Not doing so may result in serious accidents.
• Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
• The FQM1 will turn OFF all outputs when its self-diagnosis function
detects any error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures
must be provided to ensure safety in the system.
• The FQM1 outputs may remain ON or OFF due to destruction of the output transistors. As a countermeasure for such problems, external safety
measures must be provided to ensure safety in the system.
xiv
3
Safety Precautions
• When the 24-VDC output (service power supply to the FQM1) is overloaded or short-circuited, the voltage may drop and result in the outputs
being turned OFF. As a countermeasure for such problems, external
safety measures must be provided to ensure safety in the system.
!WARNING Fail-safe measures must be taken by the customer to ensure safety in the
event of incorrect, missing, or abnormal signals caused by broken signal
lines, momentary power interruptions, or other causes. Not doing so may
result in serious accidents.
!Caution Execute online edit only after confirming that no adverse effects will be
caused by extending the cycle time. Otherwise, the input signals may not be
readable.
!Caution User programs and parameters written to the Coordinator Module or Motion
Control Module will be automatically backed up in the FQM1 flash memory
(flash memory function). The contents of I/O memory (including the DM Area),
however, are not written to flash memory. Part of the DM Area used as a holding area when recovering from a power interruption is backed up using a
super capacitor, but correct values will not be maintained if an error occurs
that prevents memory backup. As a countermeasure for such problems, take
appropriate measures in the program using the Memory Not Held Flag
(A404.14) when externally outputting the contents of the DM Area.
!Caution Confirm safety at the destination Module before transferring a program to
another Module or editing the I/O area. Doing either of these without confirming safety may result in injury.
!Caution Tighten the screws on the terminal block of the AC Power Supply Unit to the
torque specified in the operation manual. The loose screws may result in
burning or malfunction.
!Caution Do not touch the Power Supply Unit while the power is ON, and immediately
after turning OFF the power. Touching hot surfaces may result in burning.
!Caution Pay careful attention to the polarities (+/-) when wiring the DC power supply.
A wrong connection may cause malfunction of the system.
3-1
Operating Environment Precautions
!Caution Do not operate the control system in the following places:
• Locations subject to direct sunlight
• Locations subject to temperatures or humidity outside the range specified
in the specifications
• Locations subject to condensation as the result of severe changes in temperature
• Locations subject to corrosive or flammable gases
• Locations subject to dust (especially iron dust) or salts
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
!Caution Take appropriate and sufficient countermeasures when installing systems in
the following locations:
xv
3
Safety Precautions
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
!Caution The operating environment of the FQM1 System can have a large effect on
the longevity and reliability of the system. Improper operating environments
can lead to malfunction, failure, and other unforeseeable problems with the
FQM1 System. Make sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.
3-2
Application Precautions
!WARNING Always heed these precautions. Failure to abide by the following precautions
could lead to serious or possibly fatal injury.
• Always connect to a ground of 100 Ω or less when installing the FQM1.
Not doing so may result in electric shock.
• Always connect to a ground of 100 Ω or less when short-circuiting the
functional ground and line ground terminals of the Power Supply Unit, in
particular.
• Always turn OFF the power supply to the FQM1 before attempting any of
the following. Not turning OFF the power supply may result in malfunction
or electric shock.
• Mounting or dismounting Power Supply Unit, Coordinator Module, Motion Control Module, and End Module
• Assembling the Modules
• Setting DIP switches
• Connecting or wiring the cables
• Connecting or disconnecting the connectors
!Caution Failure to abide by the following precautions could lead to faulty operation of
the FQM1 or the system, or could damage the FQM1. Always heed these precautions.
• Always use the CX-Programmer (Programming Device for Windows) to
create new cyclic tasks and interrupt tasks.
• The user program and parameter area data in Coordinator Module and
Motion Control Modules is backed up in the built-in flash memory. Do not
turn OFF the power supply to the FQM1 while the user program or parameter area data is being transferred. The data will not be backed up if the
power is turned OFF.
• The FQM1 will start operating in RUN mode when the power is turned ON
with the default settings (i.e., if the operating mode at power ON (startup
mode) setting in the System Setup is disabled).
• Configure the external circuits so that the control power supply turns ON
after the power supply to the FQM1 turns ON. If the power is turned ON in
the opposite order, the built-in outputs and other outputs may momentarily malfunction and the control outputs may temporarily not operate correctly.
xvi
3
Safety Precautions
• Outputs may remain ON due to a malfunction in the built-in transistor outputs or other internal circuits. As a countermeasure for such problems,
external safety measures must be provided to ensure the safety of the
system.
• Part of the DM Area (data memory) in the Motion Control Module is held
using the super capacitor. Corrupted memory may prevent the correct
values from being saved, however. Take appropriate measures in the ladder program whenever the Memory Not Held Flag (A404.14) turns ON,
such as resetting the data in the DM Area.
• Part of the DM Area in the Coordinator Module is backed up in the built-in
flash memory when transferring data from the CX-Programmer. Do not
turn OFF the power to the FQM1 while data is being transferred. The data
will not be backed up if the power is turned OFF.
• Confirm that no adverse effect will occur in the system before attempting
any of the following. Not doing so may result in an unexpected operation.
• Changing the operating mode of the FQM1
• Force-setting/force-resetting any bit in memory
• Changing the present value of any word or any set value in memory
• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.
• Be sure that all the terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening
torque may result in malfunction.
• Mount the Modules only after checking the connectors and terminal
blocks completely.
• Before touching the Module, be sure to first touch a grounded metallic
object in order to discharge any static built-up. Not doing so may result in
malfunction or damage.
• Be sure that the terminal blocks, connectors, and other items with locking
devices are properly locked into place. Improper locking may result in
malfunction.
• Wire correctly according to the specified procedures.
• Always use the power supply voltage specified in the operation manuals.
An incorrect voltage may result in malfunction or burning.
• Take appropriate measures to ensure that the specified power with the
rated voltage and frequency is supplied. Be particularly careful in places
where the power supply is unstable. An incorrect power supply may result
in malfunction.
• Leave the dust protective label attached to the Module when wiring.
Removing the label may result in malfunction.
• Remove the dust protective label after the completion of wiring to ensure
proper heat dissipation. Leaving the label attached may result in malfunction.
• Use crimp terminals for wiring. Do not connect bare stranded wires
directly to terminals. Connection of bare stranded wires may result in
burning.
• Do not apply voltages to the built-in inputs in excess of the rated input
voltage. Excess voltages may result in burning.
xvii
Safety Precautions
3
• Do not apply voltages or connect loads to the built-in outputs in excess of
the maximum switching capacity. Excess voltage or loads may result in
burning.
• Disconnect the functional ground terminal when performing withstand
voltage tests. Not disconnecting the functional ground terminal may result
in burning.
• Wire correctly and double-check all the wiring or the setting switches
before turning ON the power supply. Incorrect wiring may result in burning.
• Check that the DIP switches and data memory (DM) are properly set
before starting operation.
• Check the user program for proper execution before actually running it on
the Module. Not checking the program may result in an unexpected operation.
• Resume operation only after transferring to the new Module the contents
of the DM Areas, programs, parameters, and data required for resuming
operation. Not doing so may result in an unexpected operation.
• Do not pull on the cables or bend the cables beyond their natural limit.
Doing either of these may break the cables.
• Do not place objects on top of the cables. Doing so may break the cables.
• Use the dedicated connecting cables specified in operation manuals to
connect the Modules. Using commercially available RS-232C computer
cables may cause failures in external devices or the Coordinator Module.
• Do not connect pin 6 (+5V) on the RS-232C port on the Coordinator Module to any external device other than the NT-AL001 or CJ1W-CIF11 Conversion Adapter. Doing so may result in damage to the external device
and the Coordinator Module.
• When replacing parts, be sure to confirm that the rating of a new part is
correct. Not doing so may result in malfunction or burning.
• When transporting or storing the product, cover the PCBs with electrically
conductive materials to prevent LSIs and ICs from being damaged by
static electricity, and also keep the product within the specified storage
temperature range.
• Do not touch the mounted parts or the rear surface of PCBs because
PCBs have sharp edges such as electrical leads.
• When connecting the Power Supply Unit, Coordinator Module, Motion
Control Module, and End Module, slide the upper and lower sliders until a
click sound is heard to lock them securely. Desired functionality may not
be achieved unless Modules are securely locked in place.
• Be sure to mount the End Module supplied with the Coordinator Module
to the rightmost Module. Unless the End Module is properly mounted, the
FQM1 will not function properly.
• Make sure that parameters are set correctly. Incorrect parameter settings
may result in unexpected operations. Make sure that equipment will not
be adversely affected by the parameter settings before starting or stopping the FQM1.
xviii
4
Conformance to EC Directives
4
4-1
Conformance to EC Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
4-2
Concepts
EMC Directives
OMRON devices that comply with EC Directives also conform to the related
EMC standards so that they can be more easily built into other devices or the
overall machine. The actual products have been checked for conformity to
EMC standards (see the following note). Whether the products conform to the
standards in the system used by the customer, however, must be checked by
the customer.
EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of
the equipment or control panel on which the OMRON devices are installed.
The customer must, therefore, perform the final check to confirm that devices
and the overall machine conform to EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61000-6-2
EMI (Electromagnetic Interference):
EN61000-6-4
(Radiated emission: 10-m regulations)
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 V AC and 75
to 1,500 V DC meet the required safety standards for the Motion Controller
(EN61131-2).
4-3
Conformance to EC Directives
The FQM1-series Flexible Motion Controllers comply with EC Directives. To
ensure that the machine or device in which the Motion Controller is used complies with EC Directives, the Motion Controller must be installed as follows:
1,2,3...
1. The Motion Controller must be installed within a control panel.
2. You must use reinforced insulation or double insulation for the DC power
supplies used for the communications power supply and I/O power supplies.
3. Motion Controllers complying with EC Directives also conform to the Common Emission Standard (EN61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the configuration of the
control panel used, other devices connected to the control panel, wiring,
and other conditions. You must therefore confirm that the overall machine
or equipment complies with EC Directives.
4-4
EMC Directive Conformance Conditions
The immunity testing condition of the Motion Control Modules is as follows:
Overall accuracy of FQM1-MMA21 analog I/O: +4%/−2%
xix
4
Conformance to EC Directives
4-5
Relay Output Noise Reduction Methods
The FQM1-series Flexible Motion Controller conforms to the Common Emission Standards (EN61000-6-4) of the EMC Directives. However, noise generated by relay output switching may not satisfy these Standards. In such a
case, a noise filter must be connected to the load side or other appropriate
countermeasures must be provided external to the Motion Controller.
Countermeasures taken to satisfy the standards vary depending on the
devices on the load side, wiring, configuration of machines, etc. Following are
examples of countermeasures for reducing the generated noise.
Countermeasures
(Refer to EN61000-6-4 for more details.)
Countermeasures are not required if the frequency of load switching for the
whole system with the Motion Controller included is less than 5 times per
minute.
Countermeasures are required if the frequency of load switching for the whole
system with the Motion Controller included is more than 5 times per minute.
Countermeasure Examples
When switching an inductive load, connect an surge protector, diodes, etc., in
parallel with the load or contact as shown below.
Circuit
Current
AC
DC
Yes
C
Power R
supply
xx
Inductive
load
CR method
Yes
Characteristic
Required element
If the load is a relay or solenoid, there
is a time lag between the moment the
circuit is opened and the moment the
load is reset.
If the supply voltage is 24 or 48 V,
insert the surge protector in parallel
with the load. If the supply voltage is
100 to 200 V, insert the surge protector
between the contacts.
The capacitance of the capacitor must
be 1 to 0.5 µF per contact current of
1 A and resistance of the resistor must
be 0.5 to 1 Ω per contact voltage of 1 V.
These values, however, vary with the
load and the characteristics of the
relay. Decide these values from experiments, and take into consideration that
the capacitance suppresses spark discharge when the contacts are separated and the resistance limits the
current that flows into the load when
the circuit is closed again.
The dielectric strength of the capacitor
must be 200 to 300 V. If the circuit is an
AC circuit, use a capacitor with no
polarity.
4
Conformance to EC Directives
Circuit
Current
AC
DC
Power
supply
Inductive
load
Varistor method
Power
supply
No
Yes
Yes
Yes
Inductive
load
Diode method
Characteristic
Required element
The diode connected in parallel with
the load changes energy accumulated
by the coil into a current, which then
flows into the coil so that the current
will be converted into Joule heat by the
resistance of the inductive load.
This time lag, between the moment the
circuit is opened and the moment the
load is reset, caused by this method is
longer than that caused by the CR
method.
The varistor method prevents the imposition of high voltage between the contacts by using the constant voltage
characteristic of the varistor. There is
time lag between the moment the circuit is opened and the moment the load
is reset.
If the supply voltage is 24 or 48 V,
insert the varistor in parallel with the
load. If the supply voltage is 100 to
200 V, insert the varistor between the
contacts.
The reversed dielectric strength value
of the diode must be at least 10 times
as large as the circuit voltage value.
The forward current of the diode must
be the same as or larger than the load
current.
The reversed dielectric strength value
of the diode may be two to three times
larger than the supply voltage if the
surge protector is applied to electronic
circuits with low circuit voltages.
---
When switching a load with a high inrush current such as an incandescent
lamp, suppress the inrush current as shown below.
Countermeasure 1
Countermeasure 2
R
OUT
OUT
R
COM
COM
Providing a dark current of approx.
one-third of the rated value
through an incandescent lamp
Providing a limiting resistor
The following Unit and Cables can be used with the FQM1-series Flexible
Motion Controller.
Name
Relay Unit
Controller Connecting Cables
Model
Cable length
XW2B-80J7-1A
XW2Z-050J-A28
--0.5 m
XW2Z-100J-A28
XW2Z-050J-A30
1m
0.5 m
XW2Z-100J-A30
XW2Z-050J-A31
1m
0.5 m
XW2Z-100J-A31
1m
xxi
5
Data Backup
5
Data Backup
The user programs, I/O memories, and other data in the Coordinator Module
and Motion Control Modules is backed up either by a super capacitor or flash
memory, as listed in the following table.
Module
Coordinator Module
Data
Error log
Motion Control Module DM Area words D30000 to D32767
Error log
Coordinator Module
User program
System Setup
DM Area words D30000 to D32767
Data backup
RAM with super
capacitor
Flash memory
Motion Control Module User program
System Setup
The data backup time of the super capacitor is given in the following table and
shown in the following graph.
Temperature
Initial
After 5 years
After 10 years
Ta = 25°C
101.61 hours
(4.23 days)
96.2 hours
(4.01days)
90.8 hours
(3.78 days)
Ta = 40°C
26.39 hours
(1.09 days)
15.28 hours
4.16 hours
Backup time (h)
Super Capacitor Backup Times
120
25°C: 101.61 h
25°C: 96.20 h
25°C: 90.80 h
96
72
48
40°C: 26.39 h
24
40°C: 15.28 h
0
40°C: 4.16 h
25
35
45
55
65
75
Ambient temperature (°C)
Initial value,
Note
After 5 years,
After 10 years
1. The times give above assume that the capacitor is completely charged.
Power must be supply to the FQM1 for at least 20 minutes to completely
charge the capacitor.
2. The backup time of the super capacitor is reduced as the capacitor ages.
It is also affected by the ambient temperature. Use portion of the DM Area
backed up by the super capacitor only for data that is to be held during mo-
xxii
5
Data Backup
mentary power interruptions. For operating parameters and other longterm data, use the portion of DM Area stored in flash memory in the Coordinator Module and transfer it to the Motion Control Modules before starting operation.
The data in the DM Area and error log will become unstable or corrupted if the
power to the system is OFF for longer than the backup time.
If the power supply is to be turned OFF for an extended period of time, use
D30000 to D32767 in the Coordinator Module, which is backed up in flash
memory, to store data.
Otherwise, the Memory Not Held Flag (A404.14) can be used as the input
condition for programming using data in areas stored for power interruptions
to perform suitable processing.
A404.14: Turns ON when power is turned ON if data stored for power interruptions in the DM Area or error log is corrupted.
A404.14
Processing for
corruption of data
backed up for
power interruptions
DM Area words D30000 to D32767 in the Coordinator Module are backed up
in flash memory as described in the next section.
Backing Up DM Area Data in Flash Memory
DM Area words D30000 to D32767 in the Coordinator Module is read from
flash memory when the power supply is turned ON. We recommend using DM
Area words D30000 to D32767 in the Coordinator Module to store operating
parameters and other data required for system operation and then using the
DM transfer function to transfer the data from the Coordinator Module to the
Motion Control Modules at the start of operation.
xxiii
Data Backup
xxiv
5
SECTION 1
Features and System Configuration
This section describes the features of the FQM1 and its system configuration.
1-1
Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . .
2
1-2
FQM1 Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1-3
Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
1-4
CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
1-5
Expanded System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
1-6
1-7
1-5-1
Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
1-5-2
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
1-6-1
Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
Function Tables Arranged by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
1-7-1
Sync Cycles and Synchronized data . . . . . . . . . . . . . . . . . . . . . . . . .
19
1-7-2
Position and Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
1-7-3
Measuring Input Pulses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
1-7-4
High-speed Analog I/O Control . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
1-7-5
Controlling Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
1
Section 1-1
Outline of FQM1 Flexible Motion Controller
1-1
Outline of FQM1 Flexible Motion Controller
The FQM1 (Flexible Quick Motion) is a stand-alone Flexible Motion Controller
that can be used to create flexible high-speed, high-precision motion control
systems for 2 to 8 axes.
PT (Monitor
parameter
settings)
Host Controller
or
Coordinator Module
Motion Control Modules
Power Supply Unit
End Module
Peripheral port
RS-422A
RS-232C port
Servo Relay Units
CX-Programmer
Servomotors and
Servo Drivers
Flexible Configurations of
Up To 8 Axes
An FQM1 Flexible Motion Controller System is made up of a Power Supply
Unit, a Coordinator Module, one or more Motion Control Modules, and an End
Module.
Motion Control Modules are available with either pulse I/O or analog I/O, and
a mixture of up to four Motion Control Modules can be included in one system
(up to three if only analog I/O Motion Control Modules are used.) A flexible
system ideal for the application can be created because each Motion Control
Module controls two axes, giving total motion control of eight axes when four
Motion Control Modules are connected.
High-speed Processing
2
Each Motion Control Module and Coordinator Module has independent ladder
programming, allowing high-speed independent control of pulse and analog
I/O. Data can be shared between all Modules. The Coordinator Module performs general-purpose I/O control and manages overall system operation.
Section 1-1
Outline of FQM1 Flexible Motion Controller
Coordinator Module
CXProgrammer
Peripheral port
Ladder
program
Motion Control
Module #1
Motion Control
Module #2
Motion Control
Module #3
Motion Control
Module #4
Ladder
program
Ladder
program
Ladder
program
Ladder
program
Special I/O
(pulse or
analog I/O)
Basic I/O
Special I/O
(pulse or
analog I/O)
Basic I/O
Special I/O
(pulse or
analog I/O)
Basic I/O
RS-232C
PT, host
computer,
etc.
RS-422A
Normal I/O
Servo Driver
Built-in RS-232C Port in
Coordinator Module
Special I/O
(pulse or
analog I/O)
Basic I/O
A Programmable Terminal (PT) can be connected to the Coordinator Module
to monitor present values on the PT or make parameter settings for Servomotors from the PT.
The RS-232C port is useful for a variety of applications. It can be used, for
example, to connect to a host computer or for a Serial PLC Link connection to
a SYSMAC CJ1M Programmable Controller.
Built-in RS-422A Port in
Coordinator Module
A PT can be connected to the Coordinator Module so that Servo parameters
can be read from and written to Servomotors/Servo Drivers using a Serial
Gateway Function.
Commands can also be sent from the Coordinator Module ladder program to
Servomotors/Servo Drivers.
Motion Control with
Familiar Ladder
Programming
The Coordinator Module and Motion Control Modules each have their own
ladder program, which perform basic I/O and special I/O (pulse I/O and analog I/O).
Built-in General-purpose
I/O in Coordinator Module
The Coordinator Module has 24 built-in I/O (16 inputs and 8 outputs) for communications with host controllers and 12 inputs and 8 outputs for Motion Control Modules.
Built-in General-purpose
I/O in Motion Control
Modules
Motion Control Modules have 12 contact inputs and 8 contact outputs for I/O
with peripheral devices.
Connections for Absolute
Servomotors
Motion Control Modules can read absolute position data from W-series Absolute Servomotors/Servo Drivers.
High-speed Counter Latch
Function
The high-speed counter latch function latches the high-speed counter's PV
using 2 external signals. Ladder programs can then be used to read the
latched values.
Pulse Input Sampling
Function
The number of pulse inputs within a specified time can be measured.
3
FQM1 Configuration
Section 1-2
Pulse Input Frequency
Measurement Function
The speed of pulse inputs can be measured at the same time as the number
of pulse inputs is counted.
Wide Variety of Interrupt
Functions
The FQM1 can provide high-speed I/O responses because it has a wide variety of functions for starting interrupt tasks, in addition to input interrupts, interval timer interrupts, high-speed counter interrupts, and pulse output interrupts.
High-speed Analog I/O
Supported
Motion Control Modules with analog I/O support linear (displacement/length
measurement) sensor input, inverter control, and control of Servomotors with
analog-input Servo Drivers. This gives flexibility for a great variety of motion
applications.
Writing and Monitoring
Ladder Programs
The ladder program for each Module is written using CX-Programmer Ver.
5.01 or later (see note) and then written to each Module via the peripheral
port on the Coordinator Module.The ladder program is saved in each Module
and operation of the program can be monitored from the CX-Programmer.
Note
1-2
FQM1 Patch Software must be installed for CX-Programmer Ver. 5.0.
FQM1 Configuration
Coordinator Module
Motion Control Modules
Power Supply Unit
End Module
Peripheral port
RS-422A
RS-232C port
Servo Relay Units
CX-Programmer
Servomotors/
Servo Drivers
The FQM1 consists of a Power Supply Unit, a Coordinator Module, one or
more Motion Control Modules, and an End Module. Motion Control Modules
are available with either pulse I/O or analog I/O and up to four Motion Control
Modules can be connected in one system. (See note.)
Note
4
The number of Motion Control Modules with Analog I/O that can be connected
is limited by the output capacity of the Power Supply Unit.
Section 1-2
FQM1 Configuration
FQM1-CM001 Coordinator
Module
One Coordinator Module is required in an FQM1. The Coordinator Module
provides the following:
I/O:
16 inputs, 8 outputs
Program capacity: 5 Ksteps
DM Area capacity: 32 Kwords (DM)
• The CX-Programmer (Ver. 5.01 or later) is connected to the peripheral
port on the Coordinator Module, and a PT (Programmable Terminal) or
other device is connected to the RS-232C port.
• The Coordinator Module has its own ladder program, which is used to
coordinate Motion Control Module data.
• The Coordinator Module has 24 general-purpose I/O (16 inputs and 8 outputs).
• The Coordinator Module has a Cyclic Refresh Bit Area, in which 10 words
are allocated for cyclic refreshing with each Motion Control Module. This
area is refreshed each Coordinator Module cycle.
• The Coordinator Module has a Synchronous Data Link Bit Area, in which
4 words are allocated for sharing with the Synchronous Data Link Bit Area
of each Motion Control Module.
FQM1-MMP21/MMA21
Motion Control Modules
Each Motion Control Module provides the following:
Pulse I/O Motion
Control Module
FQM1-MMP21
Program capacity:
5 Ksteps
Pulse inputs:
2
Pulse outputs:
2
General-purpose inputs: 12
General-purpose outputs:8
Analog I/O Motion
Control Module
FQM1-MMA21
Program capacity:
Pulse inputs:
Analog inputs:
Analog outputs:
General-purpose inputs:
General-purpose outputs:
5 Ksteps
2
1
2
12
8
• Rotary Encoders, Linear Sensors, Servos, Inverters, etc., can be connected to the special I/O.
• Each Motion Control Module has a ladder program for executing motion
control and other functions.
• Each Motion Control Module has 20 general-purpose I/O (12 inputs and 8
outputs).
• Each Motion Control Module has 10 words allocated in the Coordinator
Module's Cyclic Refresh Bit Area that is refreshed every Coordinator
Module cycle.
• Each Module cycle, 4 words of Motion Control Module Synchronous Data
Link Bit Area data is shared with the Coordinator Module's Synchronous
Data Link Bit Area.
CJ1W-PA202/PA205R
Power Supply Units
SYSMAC CJ-series Power Supply Units are used.
CJ1W-PA202
CJ1W-PA205R
100 to 240 V AC, output capacity: 5 V DC, 2.8 A, 24 V DC, 0.4 A,
up to 14 W total.
100 to 240 V AC, output capacity: 5 V DC, 5.0 A, 24 V DC, 0.8 A,
up to 25 W total.
Select a Power Supply Unit with a capacity greater than the total current consumption of the connected Modules.
5
Section 1-3
Modules
FQM1-TER01 End Module
One End Module is supplied with the Coordinator Module. Always attach the
End Module because it acts as a terminator for the system. A fatal error will
occur if no End Module is attached.
Other Peripheral Devices
Special Servo Relay Units are available for connecting the FQM1 Flexible
Motion Control system to OMRON W-series and SMARTSTEP Servo Drivers.
Specific cables suitable for the connected Servomotor/Servo Driver models
and the FQM1 Motion Control Module models are also available.
1-3
Modules
The Coordinator Module acts as the interface between the FQM1 system and
peripheral devices, shares data with each Motion Control Module, and synchronizes specific data (e.g., virtual axis data) between Modules.
Item
Functions Interfaces for
peripheral
devices
I/O
Details
Connection with the CX-Programmer (peripheral port)
Connection with PT for monitoring and parameter settings (RS-232C port)
Connections with Servo Drivers (RS-422A port)
Sharing data with
each Motion
Control Module
(each Coordinator Module cycle)
The 10 words are allocated for each Motion Control Module in the Cyclic Refresh Bit Area
of the Coordinator Module (CIO 0100 to CIO 0139), based on the Motion Control Module
slot number. These words correspond to CIO 0100 to CIO 0109 in the Cyclic Refresh Bit
Area of each Motion Control Module.
• Coordinator Module to Motion Control Module: 5 words (General-purpose output)
• Motion Control Module to Coordinator Module: 5 words (General-purpose input: 4 words,
program RUN, fatal errors, non-fatal errors)
This cyclic refresh data is refreshed every Coordinator Module cycle.
Synchronized
sharing of special
data between
Modules (broadcast at specified
sync cycle)
User-specified synchronous data (see following list) can be allocated to CIO 0200 to CIO
0219 in the Synchronous Data Link Bit Area of the Coordinator Module and each Motion
Control Module, 4 words at a time (2 types of data × 2 words). The allocations are fixed,
starting with the Coordinator Module and followed by Motion Control Modules in order of
slot number.
• Any ladder program data
• High-speed counter PV
• Pulse output PV
• Analog input PV
• Analog output PV
• Built-in I/O input values
The synchronous data is broadcast each specified sync cycle and all other Modules
receive this data in essentially real-time.
DM data (499 words max.) can be transferred in the specified direction between the specified words in the DM Area in the specified Motion Control Module and the specified DM
Area words in the Coordinator Module when the DM Write Request Bit (A530.00) or DM
Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module turns ON.
DM data transfer
with specific
Motion Control
Modules (as
required)
Serial communications
• Peripheral port: Peripheral bus (for CX-Programmer)
• One RS-232C port: NT Link (for OMRON PTs), Host Link (for host computers), or no protocol (for PLCs)
• One RS-422A port (Same connector as general-purpose I/O): 1:N communications with
Servo Drivers (for transferring parameters to Servo Drivers)
General-purpose General-purpose inputs: 16
40-pin connector (including RS-422A)
I/O
General-purpose outputs: 8
Programs Program capacity 5 Ksteps (for data exchange with host computer, coordination of Motion Control Modules,
and other peripheral programming)
6
Section 1-3
Modules
Outline of Internal Data Exchange and I/O
Coordinator
Module
Motion Control
Module #1
Motion Control
Module #2
Motion Control
Module #3
Motion Control
Module #4
Ladder program
Ladder program
Ladder program
Ladder program
Ladder program
Cyclic Refresh Bit
Area (refreshed each
Coordinator Module
cycle)
Sync Data Link Bit
Area (Broadcast
each Motion
Control Module
cycle)
CX-Programmer
DM
DM
DM data transfer
(as required)
Peripheral port
RS-232C
PT
PLC
16 inputs
12 inputs Special I/O
8 outputs
8 outputs
RS-422A
(for parameter settings)
W-series/
SMART
STEP
Servo
Driver
Coordinator
Module
Motion Control
Modules
12 inputs Special I/O
8 outputs
12 inputs Special I/O
8 outputs
12 inputs Special I/O
8 outputs
W-series/
SMART
STEP
Servo
Driver
• Peripheral port for connecting CX-Programmer and RS-232C port for connecting PTs and other
devices
• Ladder program for coordinating Motion Control Module data and other functions
• 24 general-purpose I/O
• 10 words of cyclic refresh data for each Motion Control Module allocated in Cyclic Refresh Bit Area,
which is refreshed each Coordinator Module cycle
• 4 synchronous data link words allocated for each Motion Control Module in Coordinator Module's Synchronous Data Link Bit Area, which is shared each Module cycle
• Linear Sensors, Servo Drivers, Inverters, etc., connected to special I/O
• Ladder program for executing motion control and other functions
• 20 general-purpose I/O
• 10 words of cyclic refresh data for each Motion Control Module allocated in its Cyclic Refresh Bit Area,
which is refreshed each Coordinator Module cycle
• 4 synchronous data link words allocated for each Motion Control Module in Coordinator Module's Synchronous Data Link Bit Area, which is shared each Module cycle
7
Section 1-4
CX-Programmer
1-4
CX-Programmer
The CX-Programmer provides software functions for programming and
debugging.
FQM1 Patch Software must be installed for the CX-Programmer Ver. 5.0
(Model: WS02-CXPC1-E-V50) to use it to create ladder programs, make settings in the System Setup, and monitor operation. The FQM1 Patch Software
can be installed for CX-Programmer Ver. 5.0 or later, but not to Ver. 4.0 or earlier versions. Refer to 8-1 CX-Programmer.
CX-Programmer
Item
Applicable Motion
Controllers
OS
Personal computers
Connection method
Note
8
Details
FQM1 Series
Note CX-Programmer can also be used for SYSMAC CS/CJseries PLCs.
Microsoft Windows Microsoft Windows Microsoft Windows
95, 98, or NT4.0
2000 or Me
XP
Service Pack 6
IBM PC/AT or com- IBM PC/AT or com- IBM PC/AT or compatible
patible
patible
Peripheral port or built-in RS-232C port on the Coordinator
Module
Communications
protocol with FQM1
Peripheral Bus or Host Link
Offline functions
Online functions
Programming, editing of I/O memory, System Setup, printing
Transferring comparing data, monitoring, System Setup
Main functions
1. Programming functions: Creating and editing of applicable
FQM1 ladder or mnemonic programs.
2. Changing operating modes for each Module.
3. Transfer functions: Transferring programs, I/O memory data,
and System Setup between computer and Modules.
4. Monitoring program execution status: Monitoring I/O bit status and PV using ladder display, monitoring I/O bit status
and PV using mnemonic display, and monitoring PV using
I/O memory display.
The CX-Programmer can be connected online to FQM1 Coordinator Modules
and Motion Control Modules at the same time. If the default baud rate is
changed when Coordinator and Motion Control Modules are connected at the
same time, set the baud rate to 38.4 kpps max.
Section 1-5
Expanded System Configuration
1-5
1-5-1
Expanded System Configuration
Serial Communications
The FQM1 system can be expanded using the two serial ports built into the
Coordinator Module: Peripheral port and RS-232C port.
System Configuration
Host computer
CX-Programmer
Peripheral
port
Automatic detection of
communications parameters
Host Link
RS-232C port
Coordinator Module
1-5-2
Systems
The serial communications port mode (protocol) can be switched in the Coordinator Module’s System Setup. Depending on the protocol selected, the following systems can be configured.
Protocols
Protocol
The following protocols support serial communications.
Main connection
Use
Communications between the
host computer and the Module
Applicable commands and
communications
instructions
Host Link commands/ FINS
commands
Host Link (SYSMAC WAY)
Personal computer
OMRON Programmable Terminals (PTs)
No-protocol (custom) communications
General-purpose external devices No-protocol communications with TXD(236) instruction and
general-purpose devices, host
RXD(235) instruction
Servo Drivers
controllers, and Servo Drivers
Host controllers
NT Links (1: N)
OMRON Programmable Terminals (PTs)
High-speed communications with None
Programmable Terminals via
direct access
Peripheral Bus
(Toolbus)
CX-Programmer
None
Serial PLC Link
Slave
OMRON PLC
Communications between the
CX-Programmer running on a
computer and the FQM1
Communications between
OMRON PLC and the FQM1
Serial Gateway
OMRON Programmable Terminals (PTs)
Servo Drivers
Communications between a PT
and W-series or SMARTSTEP
Servo Drivers via the FQM1
FINS commands
None
9
Section 1-5
Expanded System Configuration
Host Link System
The Host Link System allows the I/O memory of the Modules to be read/written and the operating mode to be changed from a host computer (personal
computer or Programmable Terminal (PT)) by executing Host Link commands
or FINS commands that are preceded by a Host Link header and followed by
a terminator. A Host Link System is possible for either the peripheral port or
the RS-232C port on the Coordinator Module.
Host computer
Applicable Ports
Coordinator Module
RS-232C
Host link commands
or FINS commands
embedded in Host Link
commands
No-protocol (Custom)
Communications
System via RS-232C
Port
Peripheral port
RS-232C port
Yes
(See note.)
Yes
Note: Turn ON pin 2 on the DIP switch on the front of the
Coordinator Module and set the serial communications
mode in the System Setup to "Host Link."
No-protocol communications allow simple data transmissions, such as inputting bar code data and outputting printer data using communications port I/O
instructions TXD(236) and RXD(235). The start and end codes can be set
and, RS and CS signal control is also possible with no-protocol communications.
Coordinator Module
Applicable Ports
Coordinator Module
Peripheral
RS-232C
RS-422A
No
Yes
Yes
Note Set the serial communications
mode in the System Setup to
"non-procedural."
RXD(235) instruction
RS-232C
TXD(236) instruction
NT Link System
(1:N Mode, Standard)
If the FQM1 and a Programmable Terminal (PT) are connected together using
the RS-232C port, the allocations for the PT’s status control area, status notify
area, objects such as touch switches, indicators, and memory maps can be
allocated in the I/O memory of the FQM1.
The NT Link System allows the PT to be controlled by the FQM1, and the PT
can periodically read data from the status control area of the FQM1, and perform necessary operations if there are any changes in the area. The PT can
communicate with the FQM1 by writing data to the status notify area of the
FQM1 from the PT. The NT Link System allows the PT status to be controlled
and monitored without using FQM1 ladder programming. The ratio of FQM1
Controllers to PTs is 1: n (n ≥ 1).
10
Section 1-5
Expanded System Configuration
Set the PT communications settings for a 1:N or Standard NT Link. An NT
Link System is possible for either the peripheral port or the RS-232C port.
NT Link
1:N Mode
RS-232C
PT
NT Link
1:N Mode
Applicable Ports
Coordinator Module
Peripheral port RS-232C port
Yes
Yes
(See note.)
RS-232C
RS-232C to RS-422A/485
Conversion Adapter
RS-422A/485
PT
Note
PT
Note Turn ON pin 2 on the DIP
switch on the front of the
Coordinator Module and set
the serial communications
mode in the System Setup to
an NT Link.
PT
(1) The FQM1 can be connected to any PT port that supports 1:N NT Links.
It cannot be connected to the RS-232C ports on the NT30 or NT30C, because these ports support only 1:1 NT Links.
(2) The Programming Console functionality of a PT (Expansion Function)
cannot be used.
(3) When more than one PT is connected to the same FQM1, be sure that
each PT is assigned a unique unit number. Malfunctions will occur if the
same unit number is set on more than one PT.
(4) The NT Link System includes 1:1 and 1:N modes. These two modes are
not compatible as serial communications modes.
Serial PLC Link Slave
The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLC
Master. (It cannot be connected by the Complete Link Method.) Program-free
data exchange can be achieved between the master and slave by connecting
a CJ1M CPU Unit as the master and the FQM1 as the slave. The FQM1 connection is made to the RS-232C port on the Coordinator Module.
CIO 0080 to CIO 0099 in the Serial PLC Link Bit Area in the Coordinator Module are shared with the CJ1M master as shown below
Note
Use a CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter when connecting more than one FQM1 to the same CJ1M CPU Unit (1:N, where N = 8
max.).
11
Section 1-5
Expanded System Configuration
1:N Connection between CJ1M and FQM1 Controllers
CJ1M CPU Unit (master)
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapter connected to RS-232C port
RS-422A/485
Data sharing
Coordinator Module
FQM1
(slave)
FQM1
(slave)
FQM1
(slave)
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapters connected to RS-232C ports
8 nodes max.
1:1 Connection between CJ1M and FQM1 Controller
CJ1M CPU Unit (master)
RS-232C
Data sharing
Coordinator Module
FQM1
(slave)
Serial Gateway
Reading/writing Servo Parameters and other data in Servo Drivers connected
via RS-422A can be performed through the FQM1 Coordinator Module from
an NS-series PT or computer application running on CX-Server. The serial
communications mode for the RS-422A port on the FQM1 Coordinator Module is set to Serial Gateway to achieve this.
Servo Drivers
Connectable to RS-422A
OMRON’s W-series or SMARTSTEP Servo Drivers can be connected.
System Configuration
Example
Smart Active Parts on an NS-series PT connected via an NT Link can be used
to access W-series or SMARTSTEP Servo Drivers.
12
Section 1-6
Basic Operating Procedure
NS-series PT
Smart Active Parts
NT
Link
Coordinator Module
FQM1
Protocol
conversion
Servo parameters
RS-422A
W-series
or SMART
STEP
Servo Driver
W-series
or SMART
STEP
Servo Driver
No-protocol (Custom)
Communications
System via RS-422A
Port
No-protocol communications allow simple data transmissions, such as inputting bar code data and outputting printer data using communications port I/O
instructions TXD(236) and RXD(235). The start and end codes can be set
with no-protocol communications.
Coordinator Module
Applicable Ports
Coordinator Module
Peripheral
RS-232C
RS-422A
No
Yes
Yes
Note Set the serial communications
mode in the System Setup to
"non-procedural."
RXD(235) instruction
RS-422A
TXD(236) instruction
1-6
Basic Operating Procedure
The following procedure outlines the normal steps to operate the FQM1.
1,2,3...
1. Installation
Connect the Power Supply Unit, Coordinator Module, Motion Control Modules, and End Module. Refer to 3-1-4 Connecting FQM1 Components for
details.
Mount the FQM1. Refer to 3-1-5 DIN Track Installation for details
2. Wiring
Connect the power supply wiring and ground. Refer to 3-2-1 Wiring Power
Supply Units for details.
13
Section 1-6
Basic Operating Procedure
Wiring I/O terminals and connectors. Refer to 3-3 Wiring Module Connectors for details.
3. Initial Hardware Settings
Set the DIP switch on the front of the Coordinator Module as required. Refer to 2-3 Coordinator Module for details.
4. Turning ON Power and Checking Initial Operation
Connect the CX-Programmer (using CX-Programmer Ver. 5.0 with the
FQM1 Patch Software installed). Refer to 3-1-4 Connecting FQM1 Components for details.
Check the power supply wiring and voltage and then turn ON the power
supply. Check the RDY indicator and CX-Prorammer display. Refer to 8-2
Connecting the CX-Programmer for details.
5. System Setup Settings Using the CX-Programmer
With the FQM1 in PROGRAM mode, change the settings in the System
Setup as necessary from the CX-Programmer online. (Another method is
to change the System Setup in CX-Programmer offline and transfer it to the
Coordinator Module and Motion Control Modules.) Set the Sync Mode under Synchronization between Modules to ASync Mode to make debugging
easier. Refer to System Setup in the Coordinator Module on page 311 in
Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations for details.
6. Writing the Programs
Write the programs for the Coordinator Module and Motion Control Modules with the CX-Programmer. Refer to Appendix A Programming and to
the FQM1 Instructions Reference Manual (Cat. No. O011) for details.
7. Transferring the Programs
Transfer the programs from CX-Programmer to the Coordinator Module
and Motion Control Modules.
8. Testing Operation
a. Checking I/O Wiring
Output wiring
Input wiring
With the FQM1 in PROGRAM mode, force-set output bits
and check the status of the corresponding outputs.
Activate sensors and switches and either check the status
of the input indicators or check the status of the corresponding input bits with the CX-Programmer’s Bit/Word
Monitor operation.
b.
Trial Operation
Test operation after switching the FQM1 to MONITOR mode.
c.
Monitoring and Debugging
Monitor operation from the CX-Programmer. Use functions such as
force-setting/force-resetting bits, tracing, and online editing to debug
the program.
Note
If the Coordinator and Motion Control Modules are connected at
the same time, set the baud rate to 38.4 kpps max.
9. Saving and Printing the Programs
Save the debugged ladder programs and System Setup.
10. Running the Programs
Switch the FQM1 to RUN mode to run the programs.
14
Section 1-6
Basic Operating Procedure
1-6-1
Examples
1. Installation
Connect the Power Supply Unit, Coordinator Module, Motion Control Modules, and End Module to assemble the FQM1.
AC100
-240V
INPUT
L1
L2/N
NC
NC
Make sure that the total power consumption of the Modules is less than the
maximum capacity of the Power Supply Unit.
Use DIN Track to mount the FQM1 to the control panel.
CM001
PA202
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
MMP21
RDY
RUN
ERR
ON
12
POWER
1
OFF
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
L1
AC100
-240V
INPUT
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
2
L2/N
26
25
CN1
CN2
PORT
CN1
NC
RS422
NC
39
40
2
1
39
40
A
B
B
A
A
B
2. Wiring
Connect the power supply, ground, and I/O wiring.
3. Initial Hardware
Settings
Set the DIP switch on the Coordinator Module. In particular, be sure that the
settings for the peripheral port are correct.
Example: When connecting the CX-Programmer to the peripheral port, turn
OFF pin 2.
When devices other than the CX-Programmer are connected to the peripheral
port and RS-232C port, turn ON pin 2.
CM001
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
ON
1 2
Note
OFF
15
Section 1-6
Basic Operating Procedure
4. Turning ON Power and Checking Initial Operation
Note
5. System Setup
Settings
The System Setup and user programs are backed up in built-in flash memory.
When the data is being backed up, a message indicating the data is being
transferred will be displayed on the CX-Programmer. Never turn OFF the
power supply to the FQM1 while data is being backed up.
These settings determine the Modules’ software configuration. Refer to
Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations for details.
Note
6. Writing the
Programs
The FQM1 is set to the Sync Mode by default. This mode must be changed on
the Coordinator Module when programming Motion Control Modules, transferring programs, or debugging. Set the mode to ASync Mode in the System
Setup of the Coordinator Module to enable changing the operating modes of
the Motion Control Modules and creating programs directly from the CX-Programmer.
Write each program with the CX-Programmer, including one cyclic task and
the required number of interrupt tasks.
1,2,3...
1. Add Motion Control Modules to the tree by executing Insert - PC once for
each Motion Control Module connected to the Coordinator Module.
2. When going online to Motion Control Modules through the Coordinator
Module, the node set for the FINS destination address in the network settings on the Change PC Type Window determines the Motion Control Module that is connected. Normally the node number is automatically allocated
for the Motion Control Module when Insert - PC is executed.
16
Section 1-6
Basic Operating Procedure
7. Transferring the
Programs
When the programs has been created in the CX-Programmer, they must be
transferred to the Motion Control Modules through the Coordinator Module.
8. Testing Operation
8-a) I/O Wiring Checks
Check Output Wiring
With the FQM1 in PROGRAM mode, force-set and force-reset output bits
from the CX-Programmer and verify that the corresponding outputs operate
properly.
Check Input Wiring
Activate input devices, such as sensors and switches, and verify that the corresponding input indicators light. Also, use the Bit/Word Monitor operation
from the CX-Programmer to verify the operation of the corresponding input
bits.
8-b) Trial Operation
Use the CX-Programmer to switch each Module to MONITOR mode.
Using the CX-Programmer
Coordinator Module
Trial Operation
Select PC - Mode - MONITOR.
Peripheral
port
Actual operation
Select PC - Mode - RUN.
CX-Programmer
FQM1
8-c) Monitoring and
Debugging
There are several ways to monitor and debug FQM1 operation, including the
force-set and force-reset operations, differentiation monitoring, time chart
monitoring, data tracing, and online editing.
Force-Set and Force-Reset
When necessary, the force-set and force-reset operations can be used to
force the status of bits and check program execution.
From the CX-Programmer, select the bit to be force-set or force-reset and
then select Force On or Off from the PLC menu.
Differentiation Monitor
The differentiation monitor operation can be used to monitor the up or down
differentiation of particular bits. Use the following procedure from the CX-Programmer.
17
Section 1-6
Basic Operating Procedure
1,2,3...
1. Select the bit for differential monitoring.
2. Select Differential Monitor from the PLC Menu. The Differential Monitor
Dialog Box will be displayed.
3. Select Rising or Falling.
4. Click the Start Button. The buzzer will sound when the specified change is
detected and the count will be incremented.
5. Click the Stop Button. Differential monitoring will stop.
Time Chart Monitoring
The CX-Programmer’s time chart monitor operation can be used to check and
debug program execution.
Data Tracing
The CX-Programmer’s data trace operation can be used to check and debug
program execution.
Online Editing
When a few lines of the program in a Module have to be modified, they can be
edited online with the FQM1 in MONITOR mode or PROGRAM mode from
the CX-Programmer. When more extensive modifications are needed, upload
the program from the Module to the CX-Programmer, make the necessary
changes, and transfer the edited program back to the Module.
9. Save and Print the
Programs
To save a program, select File and then Save (or Save As) from the CX-Programmer menus.
To print a program, select File and then Print from the CX-Programmer
menus.
10. Run the Programs
18
Switch the FQM1 to RUN mode to run the programs.
Section 1-7
Function Tables Arranged by Purpose
1-7
1-7-1
Function Tables Arranged by Purpose
Sync Cycles and Synchronized data
Purpose
Synchronizing 3 Simple control
or more axes
of all axes operations from the
Coordinator
Module
Operation
Synchronizing
all Motion Control Modules to
Coordinator
Module cycle
Function used
Details
Sync Mode,
5-1 Synchronous Operation between Modules
Sync Cycle
Set Sync Mode to Sync and Sync Cycle Time to
Time
0 ms. Executes Motion Control Module ladder
programs at the same time as Coordinator Module ladder program, which makes it easy to control Motion Control Module program execution
from the Coordinator Module ladder program.
Synchronous
Data Link Bit
Area
5-2 Data Exchange between Modules
If information to be shared between Modules
every cycle is placed in the Synchronous Data
Link Bit Area, it is automatically shared between
Modules every cycle.
Synchronous operation is also possible because
programs can handle the same data between
different Modules.
Example: Sending position data for VIRTUAL
AXIS (AXIS) instruction from a Module; sending
high-speed counter PVs from pulse inputs, etc.
Constant Cycle
Time (Coordinator Module)
Sync Cycle
Time (matches
cycle time)
5-1 Synchronous Operation between Modules
The cycle time of the Coordinator Module can be
made constant using the Constant Cycle Time
function.
This constant cycle time is set as the Sync Cycle
Time in the FQM1.
Cycle Time
(Motion Control
Modules)
5-1 Synchronous Operation between Modules
The Coordinator Module's constant cycle time is
set as the FQM1 Sync Cycle Time (as above).
The I/O refresh interval for the Motion Control
Module within that Sync Cycle Time is made
constant, and the I/O cycle with external interfaces is also made constant.
5-4-4 Settings
Used to synchronize, as much as possible, the
start of processing between Modules.
When system interrupts are prohibited, the variation in the start of processing between Modules
is approx. 2 µs.
Prohibit System
Interruption of
the Sync Mode
19
Section 1-7
Function Tables Arranged by Purpose
Purpose
Operation
Synchronizing 3 Make control
Synchronizing
or more axes
cycle as short
Motion Control
as possible with Modules only
Modules synchronized
Control operation using pulse
and analog data
simultaneously
Fast control
loops
20
Synchronizing
Motion Control
Modules to
Coordinator
Module cycle or
synchronizing
between Motion
Control Modules only
Changing to
Async Mode
Function used
Details
Sync Mode,
5-1 Synchronous Operation between Modules
Sync Cycle
Set Sync Mode to Sync and Sync Cycle Time to
Time
between 0.1 and 10.0 ms.
If the Coordinator Module cycle varies or gets
too long after connecting the FQM1 to peripheral
devices, Motion Control Module operation can
be synchronized to have short control cycles for
Motion Control Modules only.
The Sync Cycle Time can be set to any value.
Synchronous
Same as “Synchronous Data Link Bit Area,”
Data Link Bit
above.
Area
Cycle Time
5-1 Synchronous Operation between Modules
(Motion Control The Coordinator Module's constant cycle time is
Modules)
set as the FQM1 Sync Cycle Time (as above).
The I/O refresh interval for the Motion Control
Module in that Sync Cycle Time is made constant and the I/O cycle with external interfaces is
also made constant.
Prohibit System
Interruption of
the Sync Mode
Synchronous
Data Selection
Sync Mode
Same as “Prohibit System Interruption of the
Sync Mode” above.
5-4 Synchronous Data Refresh
Information for I/O from different Motion Control
Modules can be stored within Modules and a
control loop created.
Select the type of synchronous data.
• Ladder execution results
• High-speed counter PV
• Pulse output PV
• Analog input values
• Analog output values
• Built-in I/O inputs
5-1 Synchronous Operation between Modules
Set the Sync Mode to Async.
Each Module will no longer be synchronized,
bus refreshing will stop, and the Motion Control
Module overhead time will be minimized.
The minimum overhead time for FQM1-MMP21
is 0.19 ms.
Section 1-7
Function Tables Arranged by Purpose
1-7-2
Position and Speed Control
Purpose
PTP positioning
using pulse I/O
Operation
Main functions
used
Using Servo
Controlling posi- • Relative pulse
Driver compati- tioning speed
output funcble with an
tions
incremental
• Pulse output
encoder or stepinstructions
ping Servomo(SPED(885)(8
tor/Servo Driver
85), ACC(888),
PULS(886),
and
PLS2(887))
Controlling trap- • PLS2(887)
ezoidal position- instruction
ing speed
control
Speed Change
Cycle Selection
(2 ms/1 ms)
Details
7-6-6 Pulse Output Function Details
Set operating mode to Relative Pulse Output.
The number of pulses is determined from the
current position. Instructions to control pulses
and speed can be used, depending on what is to
be controlled. Speed can be controlled between
20 Hz and 1 MHz.
• Basic I/O can be used for origin signal and
other I/O, and pulse inputs can be used for
encoder inputs, for Servomotors/Servo Drivers
• For stepping motors, combination with basic
I/O and pulse (CW) + direction control is possible.
7-6-12 PLS2(887) Pulse Output Direction Priority Mode
Trapezoidal positioning at any acceleration/deceleration ratio.
The system will automatically switch to triangle
control (trapezoidal control without constant
speed interval) when acceleration/deceleration
conditions with specified total output pulses do
not lead to trapezoidal control.
7-6-11 Acceleration/Deceleration Rates in
ACC(888) and PLS2(887) Instructions
The speed change cycle of ACC(888) and
PLS2(887) instructions can be selected.
This is useful for fine control of time taken to
reach target speed or to reduce positioning time.
Defining the ori- Pulse Output PV 7-5-8 Pulse Input Function Description
gin
Reset
Turn ON the Pulse Output PV Reset Bit at the
origin.
A626.00 (pulse output 1)/A627.00 (pulse output
2) turn ON.
Using Servo
Controlling posi- • Absolute Pulse
Drivers compati- tioning speed
Output
ble with an
• Pulse output
Absolute
instructions
Encoder
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
Controlling trap- PLS2(887)
ezoidal position- instruction
ing speed
Pulse Output
Direction/Absolute Position Priority Mode
Setting
7-6-6 Pulse Output Function Details
Change operating mode to Absolute Pulse Output.
The number of pulses in the command is handled as an absolute position. Everything else is
the same as relative pulse output.
Same as for Servo Drivers compatible with an
incremental encoder, outlined above.
7-6-12 PLS2(887) Pulse Output Direction Priority Mode
Can switch between giving priority to CW/CCW
output direction specification for PLS2(887)
instructions or absolute position specification to
determine output direction.
21
Section 1-7
Function Tables Arranged by Purpose
Purpose
PTP positioning
using pulse I/O
Operation
Using Servo
Reading PV
Drivers compati- from Servo
ble with an
Driver
Absolute
Encoder
Presetting the
absolute position to the pulse
output counter.
Main functions
used
• Absolute
counter operation (absolute
linear/circular)
• High-speed
counter absolute encoder
read
Pulse output
counter PV convert (INI(880)
instruction)
PTP positioning Using Servo
using analog I/O Driver compatible with an
incremental
encoder
Position control • Virtual axis
in semi-closed
(AXIS instrucloop using virtion)
tual pulse output • High-speed
function
counter (FB
pulse)
• Analog output
instructions
with position
deviation using
virtual axis and
high-speed
counter
Use Servo Driv- Position control As above
ers compatible
in semi-closed
with Absolute
loop using virEncoder
tual pulse output
function
Reading current • Absolute
position from
counter mode
Servo Driver
(absolute linear/circular)
• High-speed
counter absolute encoder
read
Presets abso• High-speed
lute position in
counter PV
AXIS instruction • MOVL instruction
22
Details
7-7 Functions for Servo Drivers Compatible with
Absolute Encoders
Set counter operation to Absolute Linear (CW−),
Absolute Circular, or Absolute Linear (CW+).
Uses OMRON W-series Servo Drivers and
reads the absolute position from the Servo
Driver before operation starts.
Once the origin has been set, it is easier to find
the origin by reading the absolute position
before operation starts.
7-6-6 Pulse Output Function Details
Reflects in the pulse output instruction the absolute value read using the absolute encoder read
instruction outlined above.
7-8 Virtual Pulse Output Function
Uses virtual axis (AXIS instruction) in relative
mode.
The current position output for the AXIS instruction is used as the command pulse to create a
position loop with the high-speed counter PV
(the feedback pulse from the Servo Driver). A
control loop for the analog output instruction is
generated according to this deviation and used.
7-8 Virtual Pulse Output Function
Uses virtual axis (AXIS instruction) in absolute
mode. Everything else is the same as above.
Same as PTP positioning with pulse I/O when
Servo Drivers compatible with Absolute Encoder
used.
7-8 Virtual Pulse Output Function
Presets the high-speed counter PV read using
the high-speed counter absolute encoder read
instruction outlined above, and presets and uses
this PV as the current position output in the
AXIS instruction.
The PV is preset before executing AXIS instruction.
Section 1-7
Function Tables Arranged by Purpose
Purpose
Operation
PTP positioning Simple position- Stepped or
using analog I/O ing using invert- sloped analog
ers
output corresponding to the
high-speed
counter PV
Path control
Synchronous
control
Drawing path
Executing elecwith linear inter- tronic cam conpolation
trol for 2 axes
synchronized to
virtual axis
Main functions
used
• Target value
match instruction
(CTBL(882)
instruction) for
high-speed
counter
• Analog output
instruction
(SPED(885)
instruction) or
analog output
slope variation
(ACC(888)
instruction) in
interrupt tasks
Drawing path
with circular
interpolation
Drawing elliptical and other
special locus
As above
• Virtual axis
(AXIS instruction)
• Create path
tables using
ladder program
(APR instruction)
• Electronic cam
pulse output
(PULS(886)
instruction)
As above
As above
As above
Slave axis control synchronized to real
axis.
Electronic cam: • High-speed
Changing target counter PV
position and
• Cam curve
speed every
generation or
cycle based on
cam curve
input pulse
table every
(position or
cycle based on
angle for one
ladder prorotation, etc.) to
gramming
execute posi(APR instructioning.
tion)
• Pulse output
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
Details
7-10 Analog Outputs
Used when positioning only using speed command according to analog output.
Applicable when speed patterns have been
determined based on specified positions.
An instruction to change the output variable
every time instructions are executed
(SPED(885) instruction) and an instruction to
change analog outputs at a specified rate of
change every 2 ms (ACC(888) instruction) are
available for analog outputs.
Fine speed control loops can be included using
the FQM1 high-speed cycle time and analog
output conversion functions (approx. 40 µs).
7-8 Virtual Pulse Output Function
Pulse output operation mode set to electronic
cam control mode (linear).
Virtual axis used as basic axis. Path can be
drawn by synchronizing 2 pulse output axes
(controlled as slave axes) with the basic axis.
Set the desired path pattern to the broken-line
approximation instruction (APR instruction) table
data, and execute pulse output control based on
the APR instruction calculation result for the
basic axis.
The maximum number of line points for one APR
instruction is 256, but multiple APR instructions
can be used in ladder programs so the number
of curve points can be increased by setting the
table data across multiple APR instructions.
7-6-14 Pulse Output Function Examples
Set pulse output operation mode to electronic
cam control mode (linear) or electronic cam control mode (circular).
Makes Motion Control Module cycle times constant, specifies target position and speed, and
executes pulse outputs to Servo Driver for the
slave axis according to high-speed counter PV.
If cam curves are generated using ladder programming, the cam curves can be changed during operation.
High-precision, synchronized control with external axes is possible with FQM1 high-speed
cycle.
23
Section 1-7
Function Tables Arranged by Purpose
Purpose
Synchronous
control
Speed control
24
Operation
Main functions
used
• Virtual axis
(AXIS instruction)
• Cam curve
generation or
cam curve
table every
cycle based on
ladder programming
(APR instruction)
• Pulse output
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
• High-speed
counter PV
• Straight-line
table (APR
instruction)
• Pulse outputs
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
Details
Slave axis control synchronized to virtual
axis.
Electronic cam:
Changing target
position and
speed every
cycle based on
virtual pulse output (position or
speed) to execute positioning.
Control of a particular axis operation at a speed
with a uniform
ratio applied
Electronic gear
operation: Pulse
outputs based
on input pulses
multiplied by a
set factor.
Creating any
trapezoidal
speed control
pattern (e.g., Scurve acceleration/deceleration) (fine
control of acceleration/deceleration using time)
Electronic cam • Cam curve
7-6-13 Pulse Output Function Procedures
operation:
generation or
Set pulse output operation mode to electronic
Changing target cam curve
cam control mode (linear) or electronic cam conposition and
table every
trol mode (circular).
speed every
cycle based on
Used for applications such as creating ideal Sercycle according
ladder provomotor control patterns.
to time axis and
gramming
perform posi(APR instruc- Makes the Motion Control Module cycle time
constant, generates a time axis using ladder
tioning.
tion)
programming, specifies the target position and
• Pulse output
with specified speed for the Servo Driver of the slave axis
target position based on that time axis and gives pulse outputs.
and frequency The time unit can be set to milliseconds, allow(PULS(886)
ing fine control in FQM1 high-speed cycles.
instruction)
• Constant cycle
time
7-8 Virtual Pulse Output Function
Execute pulse output control of slave axis based
on virtual axis position and speed using AXIS
instruction, instead of high-speed counter PV for
real axis outlined above.
Instead of the slave axis operation reflecting the
real machinery operation outlined above, this
method is used to operate position control for
multiple axes using the same timing.
7-6-13 Pulse Output Function Procedures
Set pulse output operating mode to electronic
cam control (circular).
Prepare a straight line table whose slope
becomes the multiplier for APR instruction and
use APR instructions to calculate the pulse output target position for slave axis corresponding
to high-speed counter PV and executes pulse
output control.
Speed is set and controlled to enable distribution
of specified number of pulses within FQM1 control cycle.
Section 1-7
Function Tables Arranged by Purpose
Purpose
Speed control
1-7-3
Operation
Main functions
used
Torque control
Switching
• Analog input
(position +
between posi• Pulse input (for
torque control)
tion and torque
Servo Drivers
control modes.
compatible
Individual axis
with Absolute
control for mold- During torque
ing equipment
control, perform- Encoders)
and similar
ing speed con- • Analog output
applications
trol using high- • Feedback calspeed control
culations using
loops based on
ladder profeedback from
grams
torque sensors.
Details
7-9 Analog Input Functions
7-10 Analog Outputs
Uses 2 analog outputs for speed and torque
commands for Servo Driver.
Can switch freely between position and torque
control modes in ladder program, allowing for
operations such as position control → torque
control → position control.
Speed and torque commands to Servo Drivers
can be freely controlled during torque control
based on feedback from torque sensors via analog inputs.
Fine speed control is possible in FQM1 highspeed cycle.
Line control
Performing ana- • Analog input
7-9 Analog Input Functions
(winding/feedlog output con- • Analog output 7-10 Analog Outputs
ing control)
trol based on
• Feedback cal- Performs speed control of winding and feeding
Tension control, feedback using
culations using motors while executing feedback calculations in
analog inputs
etc.
ladder proladder programs based on analog input informagrams
tion from dancer rollers or tension detectors.
High-speed feedback loops can be created
using FQM1 high-speed cycles and analog I/O
conversion (approx. 40 µs).
Simple speed
Controlling
• Timer instruc- 7-10 Analog Outputs
control correstepped or traptions
Used to create any speed change pattern using
sponding to time ezoidal analog
• Analog output an inverter.
axis using
outputs based
instructions
The speed pattern is based on the time axis,
inverter
on time
(SPED(885)
and the speed can be changed to any value
and ACC(888) once a set time has passed.
instructions)
Measuring Input Pulses
Purpose
Detecting position and length
using rotary
encoder inputs
Operation
Main functions
used
High-precision
positioning
Counts highspeed encoder
output using
high-speed
counter
Reading highspeed counter
PV when mark
has gone past
mark sensor
Latching highHigh-speed
speed counter
counter PV latch
PV when sensor turns ON for
latch input
Counting at
2 MHz (phase
differential × 4)
Details
7-5-8 Pulse Input Function Description
Set counter operation to phase differential × 4
and counting speed to 500 kHz.
Can be used when high-speed pulse inputs
need to be counted using high-speed counter for
positioning in µm-units.
7-5-8 Pulse Input Function Description
High-speed counter PV captured to latch register when external latch inputs change from OFF
to ON.
The values can be read using the PRV(881)
instruction.
Can be quickly read using hardware latch circuits.
25
Section 1-7
Function Tables Arranged by Purpose
Purpose
Detecting speed Detecting speed
using rotary
and use in outencoder inputs put control while
managing position using
encoder inputs
Operation
Measuring displacement of
workpiece per
unit time
Monitoring
Measure input
speed while
pulse cycle
managing workpiece position
using encoder
input
1-7-4
Details
7-5-8 Pulse Input Function Description
Outputs the change in the high-speed counter
PV each cycle, while outputting number of input
pulses as high-speed counter PV.
Used for applications such as detecting speed of
external master axis during synchronous control.
Monitoring Highspeed Counter
Movement
(sampling time
specified)
7-5-8 Pulse Input Function Description
Outputs the change in the high-speed counter
PV each sampling cycle (1 to 9,999 ms) specified asynchronously to Motion Control Module
cycle.
Used for applications such as detecting external
device speed or number of pulses within a specified time (not used for output control).
Counter frequency measurement (pulse
input 1 only)
7-5-8 Pulse Input Function Description
Number of input pulses can be monitored simultaneously as high-speed counter PV and pulse
frequency.
High-speed Analog I/O Control
Purpose
Measuring
undulation, distortion, thickness, height, or
diameter, etc., of
an object
26
Main functions
used
Monitoring Highspeed Counter
Movement
(cycle time)
Operation
Main functions
used
High-speed
tracing of analog
data when
external signal
turns ON
Storing analog
input value in
memory at
specified time
(constant cycle)
High-speed
tracing of analog
data synchronized with target object
position
Storing analog
High-speed
inputs to DM
analog samArea synchropling function
nous with position (pulse input)
• Interval timer
interrupts
• PRV(881)
instruction
Details
7-9-3 Analog Input Function Specifications
Can perform analog sampling at a constant
cycle, using scheduled interrupt processing in
analog input immediate refresh mode.
Sampling can be executed at small time intervals using analog input conversion (40 µs).
Data stored in memory can also be displayed on
PT and other display devices, e.g., to show
trends.
7-9-7 High-speed Analog Sampling (FQM1MMA21 Only)
Sampling of target measurement object position
as compared to the sampling based on time.
Interrupt tasks, as outlined above, are not used,
so even more detailed sampling is possible.
Used for applications such as generating displacement data for the measurement object
from one position to another position.
Section 1-7
Function Tables Arranged by Purpose
Purpose
Control using
measurement
results for undulation, distortion,
thickness,
height, diameter, etc., of an
object
Judgment processing based
on measurement results
Position control
using measurement results
Responding
quickly to external signals with
analog control
Operation
Main functions
Details
used
Reading analog Analog input +
7-9 Analog Input Functions
input values in
ladder program- Uses analog sensors to detect objects that can't
high-speed
ming
be detected with ON/OFF sensors and performs
cycles and perjudgment by comparing the analog input value
forming judgand internally held threshold values.
ment processing
Processing with faster tact time is possible using
using ladder
high-speed analog input conversion (40 µs) and
program
high-speed cycle times (approximately 2 µs minimum when only analog inputs are enabled).
Also, analog sampling at 50-µs intervals (min.) is
possible if analog inputs are set to immediate
refresh and PRV(881) instructions are used in
parallel processing in the ladder program.
Performing sync Synchronous
control using
Data Link Bit
high-speed
Area
counter PV position information
and analog input
information
simultaneously
Changing ana- Immediate
log output
refresh of anaamount as soon log output
as signal turns
ON
Reading analog
input value as
soon as signal
turns ON
Holding analog --output at the
maximum value
or at the value at
that time when
set conditions or
errors occur.
Immediate
refresh of analog input
Determining
analog output
value at output
enable OFF or
error
7-6 Pulse Outputs
7-9 Analog Input Functions
Can perform synchronous control while performing position control on slave axis synchronized
with position based on pulse input or synchronous control while adding analog value from displacement sensor as position control
compensation.
MMP21 and MMA21 used together for this application.
• Settings for
7-10 Analog Outputs
immediate
SPED(885) or ACC(888) instructions can be
refresh
used to directly refresh analog outputs.
• SPED(885)/AC Used to change output amount immediately
C(888) instruc- after external signal triggers.
tions
7-9 Analog Input Functions
• Settings for
immediate
PRV(881) instructions can be used to directly
refresh
refresh analog inputs.
• PRV(881)
Used to read input values immediately after
instructions
external signal triggers.
Analog output
7-10 Analog Outputs
hold function
The analog output status can be held at the
maximum value, cleared, or held at the current
value at output enable OFF or system errors.
27
Section 1-7
Function Tables Arranged by Purpose
1-7-5
Controlling Timing
Purpose
Responding
quickly to external signals and
operate
Executing processing as soon
as change in
external input
signal detected
Starting interrupt processing
when an input
bit turns ON
and/or OFF.
Executing processing after set
amount of external signal
changes
counted
Starting interrupt processing
once the specified number of
input bit rising
edges, falling
edges, or both
have been
counted
Starting interrupt processing
at scheduled
time
Repeating processes each
time specified
period passes
Executing processing once
specified timer
interval passes
after startup signal input
Starting processing when
high-speed
counter PV
reaches set
value
28
Operation
Main functions
used
• Input function
settings
• Interrupt inputs
(MSKS(690)
instructions)
Details
7-3 Input Interrupts
- Input Interrupt Mode
Set input function to Interrupt inputs.
Executes interrupt tasks when Motion Control
Module built-in input bits (input No. 0.00 to 0.03)
turn ON and/or OFF.
• Input function 7-3 Input Interrupts
settings
- Counter Mode
• Counting inter- Set input function to Interrupt input and counter
rupts in
mode using MSKS(690) instructions.
counter mode Decrements the PV each time the Motion Con(MSKS(690)
trol Module built-in input bit (input numbers
instruction)
0000.00 to 0000.03) turns ON and/or OFF and
executes interrupt tasks when the PV reaches 0.
• Interval timer
interrupt
(scheduled
interrupt:
STIM(980)
instruction)
7-4 Interval Timer Interrupts
- 7-4-3 Interval Timer Interrupt Modes
Repeats interrupt task execution at scheduled
intervals.
Can be used within interrupt tasks because special timer used.
Starting interrupt processing
once only, after
specified interval has elapsed
• Interval timer
interrupt (oneshot interrupt:
STIM(980)
instruction)
7-4 Interval Timer Interrupts
- 7-4-3 Interval Timer Interrupt Modes
Executes interrupt task once only after specified
period elapses.
Can be used within interrupt tasks because special timer used.
Starting interrupt processing
once periods of
any set time
have elapsed
from timer start
• Pulse output
• Target value
comparison
interrupt
(CTBL(882)
instruction)
7-6-9 Target-value Comparison Interrupts from
Pulse Output PVs
Executes specified interrupt task when target
value in registered table matches the pulse output counter PV.
Starting interrupt processing
when highspeed counter
PV reaches
specified value
• High-speed
counter target
value comparison interrupt
(CTBL(882)
instruction)
7-5 Pulse Inputs
Executes specified interrupt task when target
value in registered table matches high-speed
counter PV.
Section 1-7
Function Tables Arranged by Purpose
Purpose
Operation with
highly precise
timing
Main functions
Details
used
Increasing accu- High-precision
• One-shot pulse 7-5 Pulse Inputs
racy of external ON outputs, with outputs
Set pulse output operation mode to one-shot
output ON time. minimum unit of
(STIM(980)
output.
(Feeding, hole
0.01 ms
instruction)
Specified outputs turn ON during specified interopening, tape
val (0.01 ms to 9,999 ms).
winding, gluing,
Output OFF after specified time elapses is perand other appliformed by hardware, which gives accurate ON
cations)
time with no fluctuation.
Can be used within interrupt tasks because uses
special timer.
Highly accurate
measurement of
external input
signal ON/OFF
time
Timing output
according to
workpiece position
Operation
Starting/stopping high-precision timer at
0.001-ms unit
min.
• Pulse output
counter measurement
mode (time
measurement)
(Unit: 0.001 ms
min.)
Various processing (instruction execution)
at each one of
multiple time
intervals, using
high-precision
timer
Outputting
• Pulse output
ON/OFF patcounter meatern when pulse surement
output counter
mode (time
PV is within set
measurement)
value range.
• Range comparison bit pattern output
Timing output
using highspeed counter
PV
Outputting
ON/OFF pattern when highspeed counter
PV within certain range
• High-speed
counter range
comparison bit
pattern output
(Executes
comparison at
execution of
CTBL(882)
instructions)
7-6-8 Time Measurement with the Pulse
Counter
Time measurement starts/stops with input interrupt (MSKS(690) instruction) + STIM(980)
instruction within interrupt tasks. The elapsed
time is stored in Motion Control Module Auxiliary
Area. This data can be read using the PRV
instruction.
Note Pulse output 1 or pulse output 2 must be
set to pulse counter time measurement in
System Setup.
7-6-8 Time Measurement with the Pulse
Counter
Can be used to obtain output pattern each time
interval elapsed after timer start.
Timer accuracy can be selected from as low as
0.001 ms.
7-5-8 Pulse Input Function Description
Outputs set bit pattern when high-speed counter
PV enters the range between set upper and
lower limits.
29
Function Tables Arranged by Purpose
30
Section 1-7
SECTION 2
Specifications and Nomenclature
This section provides the specifications of the FQM1 and describes the parts and their functions on the Coordinator Module
and Motion Control Modules.
2-1
List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
2-2
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
2-3
Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
2-4
Motion Control Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
2-5
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
2-6
Module Current Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
2-7
Memory Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
31
Section 2-1
List of Models
2-1
List of Models
Name
Coordinator Module
Type
Standard
(with built-in I/O)
Model
FQM1-CM001
Specifications
Program capacity: 5 Ksteps
16 general-purpose inputs, 8 general-purpose outputs
Peripheral port, RS-232C port, RS-422A port
Motion Control
Modules
Pulse I/O
FQM1-MMP21
Program capacity: 5 Ksteps
2 pulse inputs, 2 pulse outputs, 12 general-purpose
inputs, 8 general-purpose outputs
Analog I/O
FQM1-MMA21
Program capacity: 5 Ksteps
2 pulse inputs, 1 analog input, 2 analog outputs,
12 general-purpose inputs, 8 general-purpose outputs
End Module
Servo Relay Units
Standard
---
FQM1-TER01
XW2B-80J7-1A
Connects to the right end of the FQM1.
Simplifies wiring from the Motion Control Module to two
Servo Drivers, wiring for all switches, sensors, and other
general-purpose I/O, and wiring the RS-422A line.
FQM1 Flexible
Motion Controller
Set
Set for pulse I/O
FQM1S-MC231
Programming
Device
A set including the CJ1W-PA202, FQM1-CM001, FQM1MMP21, and FQM1-TER01
Set for analog I/O FQM1S-MC222
A set including the CJ1W-PA205R, FQM1-CM001,
FQM1-MMA21, and FQM1-TER01
CX-Programmer WS02-CXPC1-E-V5@ Used for System Setup setting, programming, and moniVer. 5.0 or later
(See note.)
toring for Coordinator Modules and Motion Control Modules. The FQM1 patch file is used with CX-Programmer
Ver. 5.0.
Note
2-2
If CX-Programmer Ver. 5.0 is used with the FQM1, the FQM1 Patch Software
must be installed.
General Specifications
General Specifications
Item
Insulation resistance
Dielectric strength
Specifications
20 MΩ min. (at 500 VDC) between AC external and GR terminals (See note 1.)
2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See notes 1 and 2.)
Leakage current: 10 mA max.
720 V AC 50/60 Hz for 1 min between DC external and GR terminals (See note 1.)
Leakage current: 10 mA max.
Noise immunity
Vibration resistance
2 kV on power supply line (conforming to IEC61000-4-4)
10 to 57 Hz, 0.075-mm amplitude, 57 to 150 Hz, acceleration: 9.8 m/s2 in X, Y, and Z directions for 80 minutes total (Time coefficient: 8 minutes × coefficient factor 10 = total time 80
min.) (conforming to JIS C0040)
Shock resistance
147 m/s2 3 times each in X, Y, and Z directions (conforming to JIS C0041)
Ambient operating temperature
0 to 55°C
Ambient operating
humidity
10% to 90% (with no condensation)
Atmosphere
Ambient storage temperature
Must be free from corrosive gases
−20 to 75°C
Grounding
Enclosure
Less than 100 Ω
Mounted in a panel.
Dimensions
Weight
49 × 90 × 80 mm (W × H × D) (not including cables)
All models are each 5 kg max.
Safety measures
Conforms to EC directives, C-Tick, and cULus.
32
Section 2-2
General Specifications
Note
(1) Disconnect the Power Supply Unit's LG terminal from the GR terminal
when testing insulation and dielectric strength. Testing the insulation and
dielectric strength with the LG and GR terminals connected will damage
internal circuits.
(2) Do not apply more than 600 V when testing the dielectric strength of analog I/O terminals. Applying more than 600 V may damage the internal
elements.
Power Supply Unit Specifications
Item
Power Supply Unit
CJ1W-PA205R
Specifications
CJ1W-PA202
Supply voltage
100 to 240 V AC (wide-range), 50/60 Hz
Operating voltage
85 to 264 V AC, 47 to 63 Hz
and frequency
ranges
Power consumption 100 VA max.
Inrush current
(See note 1.)
Output capacity
50 VA max.
At 100 to 120 V AC:
15 A/8 ms max. for cold start at room temperature
At 200 to 240 V AC:
30 A/8 ms max. for cold start at room temperature
5.0 A, 5 VDC (including supply to Modules)
At 100 to 120 V AC:
20 A/8 ms max. for cold start at room temperature
At 200 to 240 V AC:
40 A/8 ms max. for cold start at room temperature
2.8 A, 5 VDC (including supply to Modules)
0.8 A, 24 VDC
Total 25 W max.
0.4 A, 24 VDC
Total 14 W max.
Output terminal
RUN output
Not provided.
Contact configuration: SPST-NO
Switching capacity:
250 V AC, 2 A (resistive load)
120 V AC, 0.5 A (inductive load)
24 VDC, 2 A (resistive load)
24 VDC, 2 A (inductive load)
Insulation resistance
Dielectric strength
20 MΩ min. (at 500 VDC) between AC external and GR terminals (See note 2.)
Noise immunity
Not provided.
2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See note 2.)
Leakage current: 10 mA max.
1,000 V AC 50/60 Hz for 1 min between DC external and GR terminals (See note 1.)
Leakage current: 10 mA max.
2 kV on power supply line (conforming to IEC61000-4-4)
Vibration resistance 10 to 57 Hz, 0.075-mm amplitude, 57 to 150 Hz, acceleration: 9.8 m/s2 in X, Y, and Z directions for 80
minutes total (Time coefficient: 8 minutes × coefficient factor 10 = total time 80 min.) (conforming to
JIS C0040)
Shock resistance
Ambient operating
temperature
Ambient operating
humidity
147 m/s2 3 times each in X, Y, and Z directions (conforming to JIS C0041)
0 to 55°C
10% to 90% (with no condensation)
Atmosphere
Ambient storage
temperature
Grounding
Must be free from corrosive gases.
−20 to 75°C
Less than 100 Ω
Enclosure
Weight
Mounted in a panel.
5 kg. total max.
Dimensions
Safety measures
80 × 90 × 65 mm (W × H × D)
Conforms to cULus and EC Directives.
45 × 90 × 65 mm (W × H × D)
33
Section 2-3
Coordinator Module
Note
(1) The inrush current is given for a cold start at room temperature with an
AC power supply. The AC inrush control circuit uses a thermistor element
with a low-temperature current control characteristic. If the ambient temperature is high or the FQM1 is hot-started, the thermistor will not be sufficiently cool, and the inrush currents given in the table may be exceeded
by up to twice the given values. When selecting fuses or breakers for external circuits, allow sufficient margin in shut-off performance. If the
FQM1 is hot-started, the capacitor will not be discharged, and the inrush
currents given in the table may be exceeded by up to twice the given values.
(2) Disconnect the Power Supply Unit's LG terminal from the GR terminal
when testing insulation and dielectric strength. Testing the insulation and
dielectric strength with the LG terminal and the GR terminals connected
will damage internal circuits.
2-3
Coordinator Module
Nomenclature
Indicators
Peripheral
port
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
ON
OFF
1
Peripheral
port baud rate
detection/System
Setup switch
FLEXIBLE
MOTION
CONTROLLER
2
CN1
PORT
RS-232C
port
࡮
࡮
࡮
࡮
࡮
࡮
RDY
RUN
ERR
PRPHL
COMM1
COMM2
CM001
ON
1 2
FLEXIBLE
MOTION
CONTROLLER
1 2
CM001
OFF
40-pin connector
㧔24 general-purpose
I/O points and RS-422A㧕
RS422
39
40
Coordinator Module
Note
Cover the peripheral port and RS-232C port with the supplied covers when
the ports are not being used to prevent dust contamination.
Indicators
Indicator Color
34
Name
Status
RDY
Green Module operation
RUN
Green Program execution Lit
Not lit
ERR
Red
Module error
Lit
Not lit
Meaning
The Module is operating normally.
Module error (e.g., WDT error).
Executing internal Module program.
Internal Module program stopped.
Lit
Fatal error.
Flash- Non-fatal error.
ing
Not lit Module operating normally.
Section 2-3
Coordinator Module
Indicator Color
Name
PRPHL
Yellow Peripheral port
communications
COMM1
COMM2
Switch on Front Panel
Status
Meaning
Lit
Communicating via the peripheral
port.
Not lit
Yellow RS-232C commu- Lit
nications
Not lit
All other times.
Communicating via the RS-232C
port.
All other times.
Yellow RS-422A communications
Lit
Communicating via RS-422A port
(for Servo Driver)
Not lit
All other times
Peripheral Port Baud Rate Detection/System Setup Switch
RDY
RUN
ERR
PRPHL
COMM1
COMM2
ON
1 2
CM001
FLEXIBLE
MOTION
CONTROLLER
OFF
SW2
Peripheral port baud rate
detection/System Setup
ON
OFF
SW1
Reserved
---
System Setup settings
Automatic baud rate detection
Function Specifications
Item
Specifications
Control method
Stored program
I/O control method
Programming
Cyclic scan
Ladder diagram
Instruction length
Ladder instructions
1 to 7 steps per instruction
Approx. 260
Execution time
Basic instructions
0.1 µs min.
Special instructions 0.3 µs min.
Common processing (overhead)
time
Sync Mode: 390 µs
ASync Mode: 180 µs
Program
capacity
5 Ksteps
None
Ladder
Comment storage
Number of tasks
Subroutines
Cyclic tasks: 1, interrupt tasks: 50
256
JMP instructions
Number of basic I/O
256
24
35
Section 2-3
Coordinator Module
CIO Area
Item
Input Bit Area
Specifications
16 bits (CIO 0000): CIO 0000.00 to CIO 0000.15
Output Bit Area
Cyclic Refresh Bit
Area
8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07
640 bits (40 words): CIO 0100 to CIO 0139
Refresh words for Motion Control Module # 1: CIO 0100 to CIO 0109
Refresh words for Motion Control Module # 2: CIO 0110 to CIO 0119
Refresh words for Motion Control Module # 3: CIO 0120 to CIO 0129
Refresh words for Motion Control Module # 4: CIO 0130 to CIO 0139
Synchronous Data
Link Bit Area
320 bits (20 words): CIO 0200 to CIO 0219
Sent from Coordinator Module: CIO 0200 to CIO 0203
Sent from Motion Control Module #1: CIO 0204 to CIO 0207
Sent from Motion Control Module #2: CIO 0208 to CIO 0211
Sent from Motion Control Module #3: CIO 0212 to CIO 0215
Sent from Motion Control Module #4: CIO 0216 to CIO 0219
320 bits (20 words): CIO 0080 to CIO 0099
CIO 0080 to CIO 0089: CJ1M to FQM1
CIO 0090 to CIO 0099: FQM1 to CJ1M
Can be connected as a Serial PLC Link slave to host PLC (CJ1M).
Serial PLC Link Bit
Area
Work Bit Areas CIO Area
Work Area
2,784 bits: CIO 0002 to CIO 0079, CIO 0140 to CIO 0199, and CIO 0220 to 0255
4,096 bits: W000 to W255
Auxiliary Area
Read only: 5,568 bits: A000 to A099 and A200 to A447
Read/write: 3,232 bits: A448 to A649
100 words: A100 to A199 (20 records)
Read/Write
Error Log
Temporary Area
Holding Area
16 bits: TR0 to TR15
None
Timer Area
Counter Area
256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers)
256 counters: C0000 to C0255 (decrementing counters and reversible counters)
Note Status not retained when power turned OFF.
DM Area
Read/Write (not
retained)
30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)
Read/Write
(retained)
2,768 words: D30000 to D32767 (Status retained in flash memory. Not retained if
written by a ladder program, but retained in flash memory if written using the CXProgrammer.)
System Setup
System Setup area (Coordinator Module/Motion Control Module settings and
peripheral service settings), peripheral service setting area
Index Registers
Data Registers
IR0 and IR1 used with JSB instruction.
None
Interrupt Func- Input interrupts
tions
Timer interrupts
None
1 (Scheduled or one-shot interrupt)
Power interruption hold function
(momentary power interruption)
Memory backup
Super capacitor
Trace memory
Peripheral servicing
Super capacitor backup
Flash memory
Error log
User programs, System Setup, part of DM Area
Self-diagnosis function
4,000 words
Servicing for devices connected to peripheral port (only CX-Programmer), RS232C port (Host Links, no-protocol communications, NT Links, and Serial PLC
Links (slave)), and RS-422A port (for Servo Driver)
CPU errors (WDT) and memory errors
Program check
Super-capacitor backup time
Programs checked from the CX-Programmer.
Approximately 100 hours at 25°C
Clock
Fixed Power OFF detection time
None
AC: 10 to 25 ms (variable)
User-set Power OFF detection time
0 to 10 ms
36
Section 2-4
Motion Control Modules
Item
Specifications
RUN output
1 (when CJ1W-PA205R used)
Individual func- Serial communications
tions
Peripheral port: Peripheral bus (Toolbus), Host Links, NT Links
Built-in RS-232C port on Coordinator Module: Peripheral bus (Toolbus), Host Links,
no-protocol communications, NT Links, and Serial PLC Links (slave).
Built-in RS-422A port on Coordinator Module: Servo Driver interface
I/O Specifications
Built-in General-purpose I/O
Item
Inputs
Number of inputs
Input voltage
Specifications
16
20.4 to 26.4 V
Input response
Outputs
Inputs for normal input (16 points):
ON delay time: 100 µs
OFF delay time: 1 ms max.
8 points/common
Number of outputs 8
Output type
NPN transistor
Switching capacity 4.5 to 30 V DC, 0.3 A per output
ON delay time
OFF delay time
2-4
0.1 ms max.
1 ms max.
Motion Control Modules
Motion Control
Module
FQM1-MMP21 (Pulse I/O)
I/O
Item
Pulse I/O
General-purpose
I/O
Functions Pulse outputs
Pulse inputs
Program
Specifications
Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) 40-pin connector
Pulse outputs: 2
General-purpose inputs: 12
26-pin connector
General-purpose outputs: 8
The following operations are supported:
• Speed control (fixed, acceleration, deceleration)
• Positioning (Fixed-speed positioning; trapezoid, acceleration/deceleration positioning,
and deceleration positioning)
• Speed control according to the present position (pulse output target value comparison or
range comparison)
• Electronic cam operation (Positioning according to the rotation position of the real or virtual axis.)
• One-shot pulse output (Output ON only for specified time. minimum increment: 0.01 ms)
• Time measurement using pulse counter (minimum increment: 0.0001 ms )
• High-speed counters: Phase, Increment/decrement, Pulse + direction inputs (50 kHz/1
MHz), or phase differential (50 kHz/500 kHz; phase differential × 4, 2 MHz )
• High-speed counter can be started/stopped using counter start bit.
• Changes in high-speed counter present value can be measured.
• High-speed counter frequency can be measured.
Program capacity 5 Ksteps
37
Section 2-4
Motion Control Modules
FQM1-MMA21 (Analog I/O)
I/O
Item
Pulse inputs
Specifications
Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders)
40-pin
connector
Analog I/O
• Analog inputs: 1
(−10 to 10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, and 4 to 20 mA),
conversion speed: 40 µs/input
• Analog outputs: 2
(−10 to 10 V, 0 to 10 V, 0 to 5 V, and 1 to 5 V), conversion speed: 40 µs/output
General-purpose General-purpose inputs: 12
26-pin
I/O
General-purpose outputs: 8
connector
Functions Analog output
• Slope
• Output hold
• Offset/gain adjustment
• Offset/gain adjustment
Analog input
Program
Program capacity 5 Ksteps
Nomenclature
Pulse I/O
indicators
MMP21
RDY
RUN
ERR
IN
OUT
0
1
2
3
4
5
6
7
8
9
10
11
General-purpose
I/O indicators
26
A1
B1
A2
B2
0
1
2
3
4
5
6
7
1
MMP21
RDY
RUN
ERR
2
IN
25
0
1
2
3
4
5
6
7
8
9
10
11
40-pin connector
Special I/O
CN2
26-pin connector
20 general-purpose
I/O points
Indicators
CN1
2
1
39
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
40
Motion Control Module
Indicators
Note
38
Indicator Color
Name
RDY
Green Module
operation
Status
Lit
Not lit
Module error (e.g., WDT error)
RUN
Green Program
execution
Lit
Not lit
Executing internal Module program
Internal Module program stopped.
ERR
Red
Lit
Flashing
Fatal error.
Non-fatal error.
Module operating normally.
Input signal ON
Module
error
Meaning
Module operating normally.
IN0 to
IN11
Yellow Inputs
Not lit
Lit
0UT0 to
OUT7
Yellow Outputs
Not lit
Lit
Input signal OFF
Output signal ON
A1/B1
A2/B2
Yellow Pulse
inputs
Not lit
Lit
Output signal OFF
Input signal ON
Not lit
Input signal OFF
IN0 to IN 11, OUT0 to OUT7, and A1 to B2 are all controlled by hardware.
2
Section 2-4
Motion Control Modules
Performance Specifications
Item
Control method
Stored program
Specifications
I/O control method
Programming language
Cyclic scan
Ladder diagram
Instruction length
Number of instructions
1 to 7 steps per instruction
Approx. 270
Instruction
execution
time
Basic instructions 0.1 µs min.
Special instructions 0.3 µs min.
Common
processing
time (overhead)
MMP21
Sync Mode: 250 µs
ASync Mode: 190 µs
MMA21
Program
capacity
Ladder
Sync Mode: 340 µs
ASync Mode: 280 µs
Each analog input when analog output is disabled: 190 µs
When analog output disabled: 230 µs
5 Ksteps
Comment storage
Number of tasks
None
Cyclic tasks: 1, interrupt tasks: 50
Subroutines
JMP instructions
256
256
Number of basic I/O
CIO Area
Input Bit Area
20 per Module
12 bits (CIO 0000): CIO 0000.00 to CIO 0000.11
Output Bit Area
Cyclic Refresh Bit
Area
8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07
160 bits (10 words): CIO 0100 to CIO 0109
Input refresh for Coordinator to Motion Control Module: CIO 0100 to CIO 0104
Output refresh for Motion Control Module to Coordinator Module: CIO 0105 to CIO 0109
Synchronous Data 320 bits (20 words): CIO 0200 to CIO 0219
Link Bit Area
Sent from Coordinator Module: CIO 0200 to CIO 0203
Sent from Motion Control Module #1: CIO 0204 to CIO 0207
Sent from Motion Control Module #2: CIO 0208 to CIO 0211
Sent from Motion Control Module #3: CIO 0212 to CIO 0215
Sent from Motion Control Module #4: CIO 0216 to CIO 0219
Work Area
CIO Area
WR Area
3,584 bits: CIO 0002 to CIO 0099, CIO 0110 to CIO 0199, and CIO 0220 to CIO 0255
4,096 bits: W000 to W255
Auxiliary
Area
Read/Write
Read only: 5,568 bits, A000 to A099 and A200 to A447
Read/write: 3,232 bits, A448 to A649
100 words: A100 to A199 (20 records)
Error Log
Temporary Area
Holding Area
16 bits: TR0 to TR15
None
Timer Area
Counter Area
256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers)
256 counters C0000 to C0255 (decrementing counters and reversible counters)
Note Status not retained when power turned OFF.
DM Area
Read/write (not
retained)
Read/write
(retained)
System Setup
Index Registers
Data Registers
Interrupt
Input interrupts
Functions
Timer interrupts
30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)
2,768 words: D30000 to D32767 (Retained by super capacitor)
System Setup Area (Coordinator Module/Motion Control Module settings),
motion parameter setting area
IR0 and IR1 used with JSB instruction
None
4 (with adjustment down mode)
1(Scheduled or one-shot interrupt)
39
Section 2-4
Motion Control Modules
Item
Power interruption hold function
(momentary power interruption)
Super capacitor
Memory backup
Super capacitor backup
Error log, part of DM Area (backup for momentary power
interruptions)
Flash memory
4,000 words
User programs, System Setup
Trace memory
Peripheral servicing
Self-diagnosis function
Event requests from Coordinator Module
CPU errors (WDT) and memory errors
Program check
Super-capacitor backup time
Programs checked from the CX-Programmer.
Approximately 100 hours at 25°C
Clock
Individual
functions
None
Phase pulse inputs, Up/down pulse inputs, Pulse + direction pulse
inputs (50 kHz/1 MHz)
Phase differential inputs (50 kHz/500 kHz; phase differential × 4,
2 MHz)
High-speed
counters
Specifications
High-speed pulse
outputs
CW and CCW (1 MHz: Line-driver)
One-shot pulse output
High-speed
counters
Single phase pulse inputs/Up/down pulse inputs /Pulse + direction
pulse inputs (50 kHz/1 MHz)
FQM1-MMP21
(pulse I/O)
FQM1-MMA21
(analog I/O)
Phase differential inputs (50 kHz/500 kHz; phase differential × 4,
2 MHz)
Analog input
Conversion speed: 40 µs/input
Resolution: −10 to 10 V: 1/16,000; 0 to 10 V: 1/8,000; 0 to 5 V: 1/4,000;
1 to 5 V: 1/4,000; 4 to 20 mA: 1/4,000
Analog outputs
Conversion speed: 40 µs/output
Resolution: −10 to 10 V: 1/10,000; 0 to 10 V/0 to 5 V/1 to 5 V: 1/4,000
I/O Specifications
General-purpose I/O
Specifications
Common Specifications for FQM1-MMP21 (Pulse I/O) and FQM1-MMA21
(Analog I/O)
Inputs
Item
Number of inputs
Input voltage
Input response
Specifications
12 inputs
20.4 to 26.4 V
Interrupt input (4 points
with one common)
Normal input (8 points
with one common)
ON delay time: 30 µs
OFF delay time: 0.2 ms max.
ON delay time: 100 µs
OFF delay time: 1 ms max.
Outputs Number of outputs 8 outputs
Output type
Transistor (NPN)
Switching capacity 4.5 to 30 V DC, 0.3 A per output
ON delay time
0.1 ms max.
OFF delay time
40
1 ms max.
Section 2-4
Motion Control Modules
Pulse I/O Specifications
FQM1-MMP21 (Pulse I/O)
Pulse
inputs
Item
Number of counters 2
Counter operations Linear counter and circular counter
Input signals
Two words each for phase A, phase B, and phase Z.
Signal levels
Input method
Counting speed
24 V DC, line-driver
Phase differential ×1
Phase differential ×2
Phase differential ×4
Increment/decrement
Pulse + direction
Voltage
50 k Hz
Line-driver
Absolute Servo
Driver interfaces
Pulse
outputs
Oneshot
pulse
outputs
Specifications
Number of outputs
Output signal
Signal levels
50 k Hz/500k Hz (phase differential × 4, 2 MHz)
2
SEN output specifications: 5 V PNP output, output
current: 5 mA
When SEN signal is output to Servo Driver, Servo
Driver will transmit the number of encoder's rotations
to this Module. After that, it transmits pulse train corresponding to displacement of the number of turns to
the Module.
2
Output speed
CW/CCW
Line-driver (equivalent to AM26LS31)
Max. output current: 20 mA
1 MHz
Number of outputs
Output type
2
Open collector (NPN)
Max. switching
capacity
80 mA/5 to 24 V DC ± 10%
Min. switching
capacity
7 mA/5 to 24 VDC ± 10%
Output pulse width
Set time ± 1 µs or 0.1% of set time
41
Section 2-4
Motion Control Modules
Pulse Inputs and Analog
I/O Specifications
FQM1-MMA21 (Analog I/O)
Pulse
inputs
Analog
input
Item
Number of counters 2
Counter operations
Input signals
Linear counter, circular counter
Two words each for phase A, phase B, and phase Z.
Signal levels
CH1: 24 V DC, line-driver
CH2: Line-driver
Input method
Phase differential ×1
Phase differential ×2
Phase differential ×4
Increment/decrement
Pulse + direction
Counting speed
Voltage
Line-driver
Absolute Servo
Driver interfaces
2
SEN output specifications: 5 V PNP output, output
current 5 mA
When SEN signal is output to Servo Driver, Servo
Driver will transmit the number of encoder's rotations
to this Module. After that, it transmits pulse train corresponding to displacement of the number of rotations to the Module.
Number of analog
inputs
1
Input signals
Voltage inputs:
−10 to 10 V
0 to 10 V
1 to 5 V
0 to 5 V
Resolution
−10 to 10 V:
0 to 10 V:
0 to 5 V:
1 to 5 V/4 to 20 mA:
Voltage input:
± 0.2% (23 ± 2°C)
± 0.4% (0 to 55°C)
40 µs max./input
Total: 1.5 ms max.
2
Accuracy (FS)
Conversion speed
Analog
outputs
42
Specifications
Number of outputs
50 kHz
50 k Hz/500k Hz (phase
differential × 4, 2 MHz)
Current inputs:
4 to 20 mA
14 bits (1/16,000)
13 bits (1/8,000)
12 bits (1/4,000)
12 bits (1/4,000)
Current input:
± 0.4% (23 ± 2°C)
± 0.6% (0 to 55°C)
Output signal
Resolution
−10 to 10 V, 0 to 10 V, 1 to 5 V, 0 to 5 V
−10 to 10 V: 14 bits (1/1,0000)
0 to 10 V:
12 bits (1/4,000)
0 to 5 V:
12 bits (1/4,000)
1 to 5 V:
12 bits (1/4,000)
Accuracy (FS)
Conversion speed
± 0.3% (23 ± 2°C) ± 0.5% (0 to 55°C)
40 µs max./output
Total: 200 µs max.
Section 2-5
Dimensions
2-5
Dimensions
FQM1-CM001 Coordinator Module
49 mm
80 mm
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
ON
1
1 2
CM001
FLEXIBLE
MOTION
CONTROLLER
OFF
2
90 mm
CN1
PORT
RS422
39
40
FQM1-MMP21/MMA21 Motion Control Modules
49 mm
80 mm
MMP21
RDY
RUN
ERR
IN
0
1
2
3
4
5
6
7
8
9
10
11
90 mm
26
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
2
25
CN2
CN1
2
1
39
40
FQM1-TER01 End Module
2.7
90
2.7
14.7
43
Section 2-5
Dimensions
Power Supply Units
CJ1W-PA202
PA202
POWER
L1
AC100
-240V
INPUT
L2/N
90
NC
NC
65
81.6
45
CJ1W-PA205R
PA205R
POWER
L1
AC100-240V
INPUT
L2/N
90
RUN
OUTPUT
AC240V
DC24V
65
81.6
44
80
Section 2-6
Module Current Consumption
XW2B-80J7-1A Servo Relay Unit
Terminating resistance switch
160
Signal switches
4.5 dia.
Phase B switches
100 90
41.7
30.7
15.9
2-6
Module Current Consumption
The amount of current/power that can be supplied to the Modules mounted in
the FQM1 is limited. Refer to the following tables when designing your system
so that the total current consumption of the mounted Modules does not
exceed the maximum current for each voltage system and the total power
consumption does not exceed the maximum for the Power Supply Unit.
Maximum Current and
Maximum Total Power
Consumption
The following table shows the maximum currents and power that can be supplied by Power Supply Units to the Controller.
Power Supply
Unit
CJ1W-PA202
CJ1W-PA205R
Max. current consumption
5-V system
24-V system
24-V system
(internal logic)
(analog)
(service)
Max. total
power consumption
2.8 A
5.0 A
14 W
25 W
0.4 A
0.8 A
None
None
Current Consumption for Each Module
Current Consumption for 5-V System
Name
Note
Model
Coordinator Module
FQM1-CM001
Note The listed value includes the
current consumption for the
CX-Programmer.
End Module
FQM1-TER01
5-V system current
consumption (A)
0.47 (See note.)
Included in Coordinator
Module current consumption
The current consumption increases by 0.15 A/Module if NT-AL001 Link Adapters are used.
45
Section 2-6
Module Current Consumption
Motion Control Modules
Name
Type
Motion Control Module
Model
Pulse I/O
FQM1-MMP21
5-V system current
consumption (A)
0.836
Analog I/O
FQM1-MMA21
0.843
Current Consumption for 24-V Systems
Name
Type
Model
Motion Control Module Analog I/O
Example Calculation
of Current and Power
Consumption
FQM1-MMA21
Name
Current consumption
Model
FQM1-CM001
Quantity
1
Power consumption
Voltage system
5V
24 V
0.47 A
---
FQM1-MMP21
1
0.836 A
---
FQM1-MMA21
Calculation
1
0.843 A
0.47 + 0.836 +
0.843
2.15 A (≤ 2.8 A)
0.104 A
0.104 A
Result
0.104 × 24 V =
2.5 W
---
Calculation
2.15 × 5 V =
10.75 W
Result
10.75 + 2.5 = 13.75 W (≤ 14 W)
The following table shows the Power Supply Units that can be connected for
different numbers of Motion Control Modules.
Number of axes
1
0
0
1
4
2
1
0
1
0
3
2
0
2
1
1
0
2
3
4
3
0
1
2
1
2
3
0
4
8
Note
Number of connected Motion Control
Modules
FQM1-MMP21
FQM1-MMA21
2
6
46
0.104
Example for CJ1W-PA202 Power Supply Unit with the Following Modules
Mounted
Coordinator
Module
Motion Control
Module
Combining Power
Supply Units and
Motion Control
Modules
24-V system current
consumption (A)
Power Supply Unit
CJ1W-PA202 (or
CJ1W-PA205R)
CJ1W-PA205R
Not possible
(See note.)
These combinations are not possible because the current consumption
exceeds the capacity of the Power Supply Unit.
Section 2-7
Memory Block Diagram
2-7
Memory Block Diagram
Coordinator Module and Motion Control Module memory has the following
block configurations.
• I/O Memory Area: Memory accessible from user programs.
• User Memory (UM): User programs and parameter area (See note 1.)
The following tables show the backup methods for these memory areas.
• Coordinator Modules
Area
User memory
I/O memory area (part of DM Area)
Backup method
Flash memory
Flash memory
• Motion Control Modules
Area
User memory
I/O memory area (part of DM Area)
Backup method
Flash memory
Super capacitor
Areas Backed Up by Super Capacitors
Data backed up by super capacitors is lost if the super capacitor voltage
drops.
Areas Backed Up to Flash Memory
Data backed up to flash memory is not lost if the super capacity voltage drops.
Data transferred from the CX-Programmer or edited online and written to the
user program or parameters in the user memory is automatically backed up to
flash memory. This means that user memory data (both user program and
parameter area data) is not lost if the super capacitor voltage drops.
Coordinator Module/Motion Control Module
Internal RAM
I/O Memory Area
I/O bit area
Work bit areas
Cyclic refresh bit area
Sync data link bit area
DM Area
D30000 to D32767
(See note 2.)
Backup
Super capacitor
Flash memory
User Program
Parameter Area
(See note 1.)
Note
(1) The parameter area stores the Coordinator Module system information,
such as the System Setup.
(2) Data transferred to the Coordinator Module, e.g., from the CX-Programmer, is saved to flash memory. Motion Control Module data is backed up
only by the super capacitor.
47
Memory Block Diagram
48
Section 2-7
SECTION 3
Installation and Wiring
This section describes how to install and wire the FQM1.
3-1
3-2
3-3
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
3-1-1
Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . .
50
3-1-2
Installation in a Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
3-1-3
Assembled Appearance and Dimensions . . . . . . . . . . . . . . . . . . . . .
54
3-1-4
Connecting FQM1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
3-1-5
DIN Track Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
3-2-1
Wiring Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
3-2-2
RS-232C Port Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
Wiring Module Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
3-3-1
Connector Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
3-3-2
External Connection Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
3-3-3
Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
3-3-4
Wiring Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
74
3-4
Wiring Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
3-5
List of FQM1 Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
3-6
Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
85
3-6-1
Reducing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
85
3-6-2
Connecting I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
49
Section 3-1
Installation
3-1
3-1-1
Installation
Installation and Wiring Precautions
Be sure to consider the following factors when installing and wiring the FQM1
to improve the reliability of the system and make the most of the FQM1’s functions.
Ambient Conditions
Do not install the FQM1 in any of the following locations.
• Locations subject to ambient temperatures lower than 0°C or higher than
55°C.
• Locations subject to drastic temperature changes or condensation.
• Locations subject to ambient humidity lower than 10% or higher than
90%.
• Locations subject to corrosive or flammable gases.
• Locations subject to excessive dust, salt, or metal filings.
• Locations that would subject the FQM1 to direct shock or vibration.
• Locations exposed to direct sunlight.
• Locations that would subject the FQM1 to water, oil, or chemical reagents.
Be sure to enclose or protect the FQM1 sufficiently in the following locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power lines.
Installation in
Cabinets or Control
Panels
When the FQM1 is being installed in a cabinet or control panel, be sure to provide proper ambient conditions as well as access for operation and maintenance.
Temperature Control
The ambient temperature within the enclosure must be within the operating
range of 0°C to 55°C. When necessary, take the following steps to maintain
the proper temperature.
• Provide enough space for good air flow.
• Do not install the FQM1 above equipment that generates a large amount
of heat such as heaters, transformers, or high-capacity resistors.
• If the ambient temperature exceeds 55°C, install a cooling fan or air conditioner.
Control
panel
Fan
FQM1
Flexible
Motion
Controller
Louver
Accessibility for
Operation and
Maintenance
50
• To ensure safe access for operation and maintenance, separate the
FQM1 as much as possible from high-voltage equipment and power
equipment.
Section 3-1
Installation
• The FQM1 will be easiest to install and operate if it is mounted at a height
of about 1.0 to 1.6 m.
Improving Noise
Resistance
• Do not mount the FQM1 in a control panel containing high-voltage equipment.
• Install the FQM1 at least 200 mm away from power lines.
Power lines
200 mm min.
FQM1
200 mm min.
• Ground the mounting plate between the FQM1 and the mounting surface.
51
Section 3-1
Installation
• The FQM1 must be mounted in an upright position to provide proper cooling.
CM001
PA202
FLEXIBLE
MOTION
CONTROLLER
POWER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
MMP21
RDY
RUN
ERR
ON
1
12
FQM1 Orientation
OFF
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
L1
AC100
-240V
INPUT
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
2
L2/N
26
25
CN1
CN2
PORT
CN1
NC
RS422
NC
39
40
2
1
39
40
• Do not install the FQM1 in any of the following positions.
NC
NC
L2/N
NC
NC
L1
L1
AC100
-240V
INPUT
L2/N
AC100
-240V
INPUT
52
Section 3-1
Installation
3-1-2
Installation in a Control Panel
The FQM1 must be mounted inside a control panel on DIN Track.
AC100
-240V
INPUT
L1
L2/N
NC
NC
Note
The FQM1 must be mounted on DIN Track. It cannot be mounted with screws.
Wiring Ducts
Use wiring ducts to wire the FQM1’s built-in I/O. Install the wiring ducts to
facilitate wiring the built-in I/O. It is handy to have the duct at the same height
as the FQM1.
Duct
20 mm min.
Unit
DIN Track
20 mm min.
Duct
Wiring Duct Example
The following example shows the proper installation of wiring ducts.
PLC
30 mm
30 mm
40 mm
Mounting
bracket
FQM1
Duct
80.0 mm
Note
Tighten terminal block screws and cable screws to the following torques.
Terminal Screws
M4: 1.2 N·m
M3: 0.5 N·m
53
Section 3-1
Installation
Routing Wiring Ducts
Install the wiring ducts at least 20 mm away from the FQM1 and any other
objects, (e.g., ceiling, wiring ducts, structural supports, and devices) to provide enough space for air circulation and replacement of Modules.
Input duct
Output duct
Power duct
200 mm min.
PLC
Breakers,
fuses
FQM1
AC100 L1
-240V
INPUT
FQM1
FQM1
FQM1
L2/N
NC
NC
Power
equipment
such as
transformers
and
magnetic
relays
Fuses, relays, timers, etc.
(NOT heat-generating
equipment, power
equipment, etc.)
3-1-3
Terminal blocks
for FQM1
Terminal blocks
for power
equipment
Assembled Appearance and Dimensions
The Modules that make up the FQM1 are connected to each other, and an
End Module is connected to the right end.
AC100
-240V
INPUT
L1
L2/N
NC
NC
54
Section 3-1
Installation
Assembled Dimensions
PA202
MMP21
CM001
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
RDY
RUN
ERR
ON
12
POWER
OFF
1
PERIPHERAL
IN
2
L1
AC100
-240V
INPUT
MMA21
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
8
9
10
11
0
1
2
3
4
5
6
7
1
RDY
RUN
ERR
IN
2
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
8
9
10
11
0
1
2
3
4
5
6
7
27
1
2
L2/N
26
25
26
CN1
PORT
90
25
CN2
35.4
CN2
CN1
CN1
NC
RS422
27.6
NC
39
40
2
39
1
40
2
1
39
40
80
W
W = a + 49 + 49 × n* + 14.7
* n is the number of connected Motion Control Modules (Up to 4 can be connected.)
Power Supply Unit width: “a” mm
Name
Power Supply
Unit
Model
CJ1W-PA202
Specifications
100 to 240 V AC, 14 W
Unit width
45 mm
CJ1W-PA205R
100 to 240 V AC, 25 W
80 mm
Coordinator Module width: 49 mm
Name
Coordinator Module
Model
FQM1-CM001
Module width
49 mm
Motion Control Module width: 49 mm
Name
Motion Control Module
Model
Pulse I/O
Analog I/O
Module width
FQM1-MMP21
FQM1-MMA21
49 mm
End Module width: 14.7 mm
Name
End Module
Model
FQM1-TER01
Module width
14.7 mm
Installation Dimensions
CM001
PA202
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
MMP21
RDY
RUN
ERR
ON
1
12
POWER
OFF
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
L1
AC100
-240V
INPUT
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
2
L2/N
26
25
CN1
PORT
CN2
CN1
NC
RS422
NC
39
40
2
1
39
40
55
Section 3-1
Installation
Installation Height
The installation height of the FQM1 varies from 115 to 165 mm.
When a CX-Programmer or connecting cables are connected, however, even
greater height is required. Allow sufficient depth in the control panel containing the FQM1.
OMRON
Approx. 115 mm to 165 mm
3-1-4
Connecting FQM1 Components
The Modules that make up the FQM1 can be connected simply by pressing
the Modules together and locking the sliders. The End Module is connected
on the far right side of the FQM1.
1,2,3...
1. Insert the two hooks on the top of the Module to the hook holes on the other Module, and join the Modules so that the connectors fit exactly.
AC100
-240V
INPUT
L1
L2/N
NC
NC
56
Section 3-1
Installation
2. Move the yellow sliders at the top and bottom of each Module until they
click into place to lock the Modules together.
Slide the sliders towards the back
cover until they click into place.
Lock
Unlock
AC100
-240V
INPUT
L1
L2/N
Slider
NC
NC
Note
If the locking tabs are not secured properly, the FQM1 may not function properly. Be sure to slide the locking tabs until they are securely in place.
3. Attach the End Module to the Module on the far right side of the FQM1.
CM001
PA202
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
MMP21
RDY
RUN
ERR
ON
12
POWER
1
OFF
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
L1
AC100
-240V
INPUT
0
1
2
3
4
5
6
7
MMA21
A1
B1
A2
B2
OUT
1
RDY
RUN
ERR
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
2
L2/N
26
25
26
CN1
PORT
25
CN2
CN2
CN1
CN1
NC
RS422
NC
39
3-1-5
40
2
1
39
40
2
1
39
40
DIN Track Installation
Use the following procedure to install the FQM1 on DIN Track.
1,2,3...
1. Release the pins on the backs of the Modules.
Release
DIN Track
mounting pins
57
Section 3-1
Installation
2. Fit the back of the FQM1 onto the DIN Track by inserting the FQM1 onto
the top of the Track and then pressing in at the bottom of the FQM1, as
shown below.
1
DIN Track
2
3. Lock the pins on the backs of the Modules.
P21
MM
A1
B1
A2
B2
Y
RD
N
RU
R
ER
T
OU
001
CM
0
1
2
3
4
5
6
7
IN
LE
XIB
FLETION LLER
MONTRO
CO
0
1
2
3
4
5
6
7
8
9
10
11
F
12
Y
RD
N
RU
R
ER
L
PH
PR 1
MM2
CO
MM
CO
OF
ON
2
2
1
1
AL
PA
202
PO
WER
RIPH
PE
ER
CN
25
2
12
CN
1
1
CN
L1
0
AC10V
-240 T
INPU
PO
40
RT
20
L2/N
22
RS4
1
1
40
20
NC
NC
DIN Track
mounting pins
4. Install a DIN Track End Plate on each end of the FQM1. To install an End
Plate, hook the bottom on the bottom of the track, rotate the Plate to hook
the top of the Plate on the top of the track, and then tighten the screw to
lock the Plate in place.
2
1
End Plates
58
Section 3-1
Installation
DIN Track and
Accessories
Use the DIN Track and DIN Track End Plates shown below.
• DIN Track
Model numbers: PFP-50N (50 cm), PFP-100N (100 cm), and
PFP-100N2 (100 cm)
Secure the DIN Track to the control panel using M4 screws separated by
210 mm (6 holes) or less and using at least 3 screws. The tightening torque is
1.2 N·m.
PFP-100N2 DIN Track
16
28-25 × 4.5 oblong holes
4.5
30±0.3 27
15
25
10
25
25
10
1000
25
15
24
29.2
1
1.5
PFP-100N/50N DIN Track
7.3±0.15
4.5
35±0.3
15
25
10
25
25
1000 (500)*
10
25
15 (5)*
27±0.15
1
* PFP-50N dimensions are
given in parentheses.
DIN Track End Plates (2 Required)
Model number: PFP-M
59
Section 3-2
Wiring
3-2
Wiring
3-2-1
Wiring Power Supply Units
PA202
POWER
M4 self-raising screws
Isolation
transformer 1:1
AC power supply
100 to 240 V
AC power supply
L1
AC100
-240V
INPUT
L2/N
NC
RUN output (See note.)
ON when Coordinator Module
is in RUN or MONITOR mode.
OFF when in PROGRAM mode
or during a fatal error.
Note
AC Power Source
NC
Power
supply
The RUN output function is provided only for the CJ1W-PA205R Power Supply Unit. It is not provided on the CJ1W-PA202 Power Supply Unit.
• Supply 100 to 240 V AC.
• Keep the voltage fluctuations within the specified range.
Supply voltage
100 to 240 V AC
Allowable voltage fluctuations
85 to 264 V AC
• If one power supply phase of the equipment is grounded, connect the
grounded phase side to the L2/N terminal.
Isolation Transformer
The FQM1's internal noise isolation circuits are sufficient to control typical
noise in power supply lines, but noise between the FQM1 and ground can be
significantly reduced by connecting a 1-to-1 isolation transformer. Do not
ground the secondary coil of the transformer.
Power Supply Capacity
The power consumption will be 100 VA max. for the CJ1W-PA205R and 50 VA
for the CJ1W-PA202, but there will be a surge current of at least 5 times the
max. current when the power is turned ON.
60
Section 3-2
Wiring
Terminal Screws and
Crimp Terminals
The terminals on the Power Supply Unit use M4, self-raising terminal screws.
Note
(1) Use crimp terminals for wiring.
(2) Do not connect bare stranded wires directly to terminals.
(3) Tighten the terminal block screws to a torque of 1.2 N·m.
Use M4 crimp terminals for AC power supplies.
Crimp Terminals for AC Power Supply
7 mm max.
20 mm max.
M4 self-raising terminal screws
Tightening torque 1.2 N•m
!Caution Tighten AC power supply terminal block screws to a torque of 1.2 N·m. Loose
screws may cause shorts, malfunctions, or fire.
Note
(1) Supply power to all of the Power Supply Units from the same source.
(2) Do not remove the protective label from the top of the Power Supply Unit
until the wiring has been completed. This label prevents wire strands and
other foreign matter from entering the Unit during wiring procedures.
(3) Do not forget to remove the label from the top of the Power Supply Unit
after wiring the Unit. The label will block air circulation needed for cooling.
Grounding
PA205R
POWER
L1
AC100-240V
INPUT
L2/N
RUN
OUTPUT
AC240V
DC24V
LG (Noise-filtered neutral terminal)
Ground separately with a resistance of
less than 100 Ω to increase resistance to
noise and to prevent electric shocks.
GR (Ground)
Ground this terminal separately to less
than 100 Ω to prevent electric shock.
• GR is the ground terminal. To help prevent electric shock, ground this terminal to less than 100 Ω and use special ground wire (minimum crosssectional area of 2 mm2).
61
Section 3-2
Wiring
• LG is a noise-filtered neutral terminal. If noise is a significant source of
errors and to prevent electrical shocks, connect the line ground terminal
to the ground terminal and ground both with a ground resistance of less
than 100 Ω or less.
• If connecting the line ground and ground terminals, always ground both to
less than 100 Ω to prevent electrical shock.
• The ground wire should not be more than 20 m long.
• The FQM1 is designed to be mounted so that it is isolated (separated)
from the mounting surface to protect it from the effects of noise in the
installation environment (e.g., the control panel).
Control panel
FQM1
ground terminal
Ground the FQM1 system
separately to a resistance
of 100 Ω or less.
• Do not share the FQM1's ground with other equipment or ground the
FQM1 to the metal structure of a building. Doing so may worsen operation.
62
Section 3-2
Wiring
FQM1
Other equipment
LG
GR
GR
Ground to
100 Ω or less.
FQM1
Ground to
100 Ω or less.
Other equipment
LG
GR
GR
Ground to
100 Ω or less.
FQM1
Ground to
100 Ω or less.
Other equipment
LG
GR
Terminal Screws and
Crimp Terminals
GR
The terminals on the Power Supply Unit use M4 self-raising terminal screws.
Note
(1) Use crimp terminals for wiring.
(2) Do not connect bare stranded wires directly to terminals.
(3) Tighten the terminal block screws to a torque of 1.2 N·m.
(4) Use M4 crimp terminals for AC power supplies.
Crimp Terminals for Ground Wire
7 mm max.
7 mm max.
63
Section 3-2
Wiring
3-2-2
RS-232C Port Wiring
Connector Pin Arrangement
1
Pin No.
FG
Signal
Name
Protection earth
---
2
3
SD (TXD)
RD (RXD)
Send data
Receive data
Output
Input
4
5
RS (RTS)
CS (CTS)
Request to send
Clear to send
Output
Input
6
7
5V
DR (DSR)
Power supply
Data set ready
--Input
8
9
ER (DTR)
SG (0V)
Data terminal ready
Signal ground
Output
---
Protection earth
---
Connector hood FG
1
Direction
6
9
5
Note
Do not connect the 5-V power supply on pin number 6 of the RS-232C port to
any devices other than a NT-AL0001 Converter. Doing so may damage the
external device and the Coordinator Module.
Connection Methods
1:1 Connections with
Personal Computers
Host Link Serial Communications Mode
Coordinator Module
Signal Pin
No.
RS-232C
interface
FG
SD
RD
RS
CS
5V
DR
ER
SG
1
2
3
4
5
6
7
8
9
9-pin D-sub
connector (male)
64
IBM PC/AT or compatible
Pin Signal
No.
1
2
3
4
5
6
7
8
9
CD
RD
SD
ER
SG
DR
RS
CS
CI
RS-232C
interface
9-pin D-sub
connector (female)
Section 3-2
Wiring
Peripheral Bus (Toolbus) Serial Communications Mode
IBM PC/AT or compatible
Coordinator Module
Signal Pin
Pin Signall
No.
No.
FG 1
SD 2
3
RS-232C RD
interface RS
4
CS 5
5V 6
DR 7
ER 8
SG 9
9-pin D-sub
connector (male)
1 CD
2 RD
3 SD RS-232C
4 ER interface
5 SG
6 DR
7 RS
8 CS
9
CI
9-pin D-sub
connector (female)
Use the following connectors and cables if making the RS-232C cable for RS232C port connections.
Applicable Connectors
■
Coordinator Module Connector
Item
■
Plug
Model
XM2A-0901
Hood
XM2S-0911-E
9-pin, millimeter screws,
static resistant
IBM PC/AT or Compatible Connector (9-pin, Male)
Item
Plug
Hood
■
9-pin male
Model
XM2D-0901
XM2S-0913
Specifications
9-pin female
9-pin, inch screws, static
resistant
Coordinator Module
Plug: XM2D-0901
(9-pin, female)
Hood: XM2S-0913
Note
Used together
Connecting to an IBM PC/AT or Compatible
IBM PC/AT or
compatible
(9-pin, male)
Recommended Cables
Specifications
Used together
Recommended cable
Hood: XM2S-0911-E
RS-232C
port
Plug: XM2A-0901
UL2464 AWG28 × 5P IFS-RVV-SB (UL product)
AWG 28 × 5P IFVV-SB (non-UL product)
Hitachi Cable, Ltd.: UL2464-SB (MA) 5P × 28AWG (7/0.127) (UL product)
CO-MA-VV-SB 5P × 28AWG (7/0.127) (non-UL product)
Fujikura Ltd.:
Use the special cables provided from OMRON for all connections whenever
possible. If cables are produced in-house, be sure they are wired correctly.
External devices and the Coordinator Module may be damaged if general-purpose (e.g., computer to modem) cables are used or if wiring is not correct.
65
Section 3-2
Wiring
Connection Example to Programmable Terminal (PT)
Direct Connection from RS-232C to RS-232C
RS-232C port
PT
RS-232C
1:N NT Link
Coordinator Unit
Signal
PT
Pin
No.
Pin
No.
FG Shell
FG
1
2
RS-232C SD
interface RD
3
RS
4
CS
5
5V
6
DR
7
ER
8
SG
9
9-pin D-sub
(male)
Signal
Shell FG
1
–
2
SD RS-232C
3
RD interface
4
RS
5
CS
6
5V
7
–
8
–
9
SG
9-pin D-sub
(male)
• Communications Mode: NT Link (1:N, N = 1 node only)
• OMRON Cables with Connectors: XW2Z200T (2 m)
XW2Z500T (5 m)
RS-232C Port Specifications
Item
Communications method Half duplex
Synchronization
Baud rate
Transmission distance
Interface
Protocol
Note
66
Specification
Asynchronous
0.3, 0.6, 1.2, 2.4, 4.8, 9.6, 19.2, 38.4, or 57.6 kbps
(See note.)
15 m max.
EIA RS-232C
Host Link, 1:N NT Link, No-protocol, or Peripheral Bus
(Toolbus)
Baud rates for the RS-232C are specified only up to 19.2 kbps. The FQM1
supports serial communications from 38.4 kbps to 57.6 kbps, but some computers cannot support these speeds. Lower the baud rate if necessary.
Section 3-3
Wiring Module Connectors
3-3
Wiring Module Connectors
3-3-1
Connector Pin Arrangement
The following tables provide the connector pin arrangement for FQM1 Modules.
FQM1-CM001 Coordinator Module
General-purpose I/O 40-pin Connector
Pin
No.
1
2
CN1
39
40
Name
Address
1
3
External input 0
External input 1
CIO 0000.00
CIO 0000.01
5
7
External input 2
External input 3
9
11
Pin
No.
Name
Address
2
4
External input 8
External input 9
CIO 0000.08
CIO 0000.09
CIO 0000.02
CIO 0000.03
6
8
External input 10
External input 11
CIO 0000.10
CIO 0000.11
External input 4
External input 5
CIO 0000.04
CIO 0000.05
10
12
External input 12
External input 13
CIO 0000.12
CIO 0000.13
13
15
External input 6
External input 7
CIO 0000.06
CIO 0000.07
14
16
External input 14
External input 15
CIO 0000.14
CIO 0000.15
17
Common for external
inputs 0 to 7
---
18
Common for external
inputs 8 to 15
19
21
External output 0
External output 1
CIO 0001.00
CIO 0001.01
20
22
External output 4
External output 5
CIO 0001.04
CIO 0001.05
23
25
External output 2
External output 3
CIO 0001.02
CIO 0001.03
24
26
External output 6
External output 7
CIO 0001.06
CIO 0001.07
27
Common for external
outputs 0 to 8
28
Power supply for external outputs 0 to 8
29
31
Not used.
Not used.
30
32
Not used.
Not used.
33
35
SDA− (RS-422A)
SDB+ (RS-422A)
34
36
RDA− (RS-422A)
RDB+ (RS-422A)
37
39
Not used.
Not used.
38
40
Not used.
Not used.
67
Section 3-3
Wiring Module Connectors
FQM1-MM@21 Motion Control Modules
General-purpose I/O 26-pin Connector
Pin
No.
26
24
Not used.
Address
External input 6
CIO 0000.06
CIO 0000.01
21
External input 7
CIO 0000.07
CIO 0000.02
19
External input 8
CIO 0000.08
CIO 0000.03
17
External input 9
CIO 0000.09
16
14
External input 4
External input 5
CIO 0000.04
CIO 0000.05
15
13
External input 10
External input 11
CIO 0000.10
CIO 0000.11
12
Common for external
inputs 0 to 3
11
Common for external
inputs 4 to 11
10
8
External output 0
External output 1
CIO 0001.00
CIO 0001.01
9
7
External output 4
External output 5
CIO 0001.04
CIO 0001.05
6
4
External output 2
External output 3
CIO 0001.02
CIO 0001.03
5
3
External output 6
External output 7
CIO 0001.06
CIO 0001.07
2
Common for external
outputs 0 to 7
1
Power supply for external outputs 0 to 7
18
1
Name
23
20
2
Not used.
Pin
No.
25
CIO 0000.00
25
CN1
Address
External input 0
(interrupt input)
External input 1
(interrupt input)
External input 2
(interrupt input)
External input 3
(interrupt input)
22
26
Name
FQM1-MMP21 Pulse I/O 40-pin Connector
1
2
CN2
39
Pin No.
1
40
Name
Name
Phase A 24 V
2
3
5
Phase A LD+
Phase A LD−/0 V
4
6
Phase A LD+
Phase A LD−/0 V
7
9
Phase B 24 V
Phase B LD+
8
10
Phase B 24 V
Phase B LD+
11
13
Phase B LD−/0 V
Phase Z 24 V
12
14
Phase B LD−/0 V
Phase Z 24 V
15
17
Phase Z LD+
Phase Z LD−/0 V
16
18
Phase Z LD+
Phase Z LD−/0 V
19
21
Latch signal 1 input
Latch signal common
20
22
Latch signal 2 input
Latch signal common
68
Counter 1
Pin No.
Counter 2
Phase A 24 V
Section 3-3
Wiring Module Connectors
Pin No.
23
Counter 1 SEN
output signal for
absolute Servo
Driver
Name
SEN output
Pin No.
24
Counter 2 SEN
output signal for
absolute Servo
Driver
25
27
SEN_0 V
5-V power for SEN output
26
28
Power supply for 5-V GND
pulse outputs
5-V power for pulse outputs
CW+
CW−
30
32
Pulse 2
33
35
CCW+
CCW−
34
36
CCW+
CCW−
37
39
One-shot pulse output 1
Common for one-shot pulse
output
38
40
One-shot pulse output 2
24-V power for one-shot pulse
output
29
31
Pulse 1
Name
SEN output
CW+
CW−
FQM1-MMA21 Analog I/O 40-pin Connector
1
2
CN2
39
Pin.
No.
1
3
40
Name
Name
Phase A 24 V
Phase A LD+
2
4
5
7
Phase A LD−/0 V
Phase B 24 V
6
8
Phase A LD−/0 V
Not used.
9
11
Phase B LD+
Phase B LD−/0 V
10
12
Phase B LD+
Phase B LD−/0 V
13
15
Phase Z 24 V
Phase Z LD+
14
16
Not used.
Phase Z LD+
17
Phase Z LD−/0 V
18
Phase Z LD−/0 V
19
21
Latch signal 1 input
Latch signal common
20
22
Latch signal 2 input
Latch signal common
SEN output
24
25
SEN_0 V
26
27
29
5-V power for SEN output
Not used.
28
30
Not used.
Not used.
Not used.
32
Not used.
23
31
Counter 1
Pin.
No.
Counter 1 SEN
output signal for
absolute Servo
Driver
---
Counter 2
Counter 2 SEN
output signal for
absolute Servo
Driver
---
Not used.
Phase A LD+
SEN output
Not used.
69
Section 3-3
Wiring Module Connectors
Pin.
No.
33
35
37
Name
Analog input
Voltage input (+)
Pin.
No.
34
Analog output 1
Voltage input (−)
Voltage output (+)
36
38
Voltage output (−)
40
39
Note
3-3-2
Name
Analog input
Current input (See note.)
Analog output 2
(Current input common)
Voltage output (+)
Voltage output (−)
Connect the voltage input (+) and the current input when using with a current
input between 4 and 20 mA.
External Connection Diagrams
The connections with the Servo Drivers, the main type of device connected,
are outlined in the following tables.
FQM1-MM@21 Motion Control Modules
Pulse Outputs
INP1
W-series Servo Driver
Positioning completed output
CW Limit Input
Servo ON
RUN
RUN command input
Alarm reset
Error Counter Reset
RESET
ECRST
Alarm reset input
Error Counter Reset Input
Inputs
Phase Z LD+
Phase Z LD−
+Z
−Z
Encoder output phase Z
Encoder output phase Z
Outputs
Pulse output CCW
Pulse output CW
CCW
CW
Forward pulse
Reverse pulse
GeneralInputs
Purpose I/O
Connector
(26 pin)
Motion Control Module
Positioning Completed Signal
Origin Proximity Input Signal
CCW Limit Input
Outputs
Special I/O
Connector
(40 pin)
Analog Outputs
Motion Control Module
GeneralInputs
purpose I/O
Connector
(26 pin)
Outputs
Special I/O
Connector
(40 pin)
Inputs
Outputs
70
W-series Servo Driver
Origin Proximity Input Signal
CCW Limit Input
CW Limit Input
Servo ON
RUN
Run command input
Alarm reset
Phase A LD+
RESET
+A
Alarm reset input
Encoder output phase A
Phase A LD−
Phase B LD+
−A
+B
Encoder output phase A
Encoder output phase B
Phase B LD−
Phase Z LD+
−B
+Z
Encoder output phase B
Encoder output phase Z
Phase Z LD−
Analog output 1 (+)
−Z
REF
Encoder output phase Z
Speed command input
Analog output 1 (−)
Analog output 2 (+)
AGND
TREF
Speed command input
Torque command input
Analog output 2 (−)
AGND
Torque command input
Section 3-3
Wiring Module Connectors
3-3-3
Wiring Examples
Connecting Pulse
Inputs (FQM1-MMP21/
MMA21)
Port 1
Port 2
Pin number
Pin number
24 V: 1 (5)
24 V: 7 (11)
24 V: 2 (6)
24 V: 8 (12)
Connect the output from an encoder to the connector in the following way,
according to the port's counter operation.
Signal name
Encoder output
Phase Differential
Input Mode
Encoder input A
Encoder input B
Note
Increment/Decrement
Pulse Input Mode
Encoder phase-A input Increment pulse input
Encoder phase-B input Decrement pulse input
Pulse + Direction
Input Mode
Pulse input
Direction signal input
The numbers in parentheses are the pin numbers on the negative side.
Example
• The wiring for an encoder (24 V) with an open-collector output is shown
below. These examples are for encoders with phases A, B, and Z.
FQM1
Differential phase input mode
1 Pulse input 1: Phase A, 24 V
Black Phase A
Encoder
(Power supply: 24 V DC)
5 Pulse input 1: Phase A, 0 V
7 Pulse input 1: Phase B, 24 V
White Phase B
Orange Phase Z
Example:
E6B2-CWZ6C
NPN opencollector output
Brown
11 Pulse input 1: Phase B, 0 V
13 Pulse input 1: Phase Z, 24 V
17 Pulse input 1: Phase Z, 0 V
+Vcc
Blue
0 V (COM)
24-V DC power supply
0V
24 V
Do not share the power supply with other I/O)
Power supply
Encoder
−
Power
0 V supply
24 V 0 V
+
FQM1
Shielded twisted-pair cable
1
IA
5
Phase A
7
IB
11
Phase B
13
IZ
17
Phase Z
71
Section 3-3
Wiring Module Connectors
• The wiring for an encoder with a line-driver output (Am26LS31 or equivalent) is shown below.
FQM1
Differential phase input mode
Black
A+
Black striped A−
Encoder
White
B+
White striped B−
Orange
Example:
E6B2-CWZ1X
line driver output
Z+
Orange striped Z−
Brown 5 V DC
Blue
Power supply
Encoder
3 Pulse input 1: Phase A, LD +
5 Pulse input 1: Phase A, LD −
9 Pulse input 1: Phase B, LD +
11 Pulse input 1: Phase B, LD −
15 Pulse input 1: Phase Z, LD +
17 Pulse input 1: Phase Z, LD −
5-V DC power supply
5V
0V
0V
FQM1
Shielded twisted-pair cable
A+
3
A−
5
B+
9
B−
11
Z+
15
Z−
17
Connecting a Servo Driver (OMRON's W Series) Compatible with an Absolute
Encoder (FQM1-MMP21/MMA21)
OMRON W-series Servo Driver Compatible
with Absolute Encoder
Shielded twisted-pair
cable
Encoder phase A
output
IA
Encoder phase B
output
4
5
6
11 12
Encoder phase Z
output
15 16
IZ
17 18
23 24
SEN
72
3
9 10
IB
SENGND
FQM1
External
power
supply
(5 V)
27
25
Section 3-3
Wiring Module Connectors
Connecting Pulse Outputs (FQM1-MMP21)
5 V-DC
power
supply
FQM1-MMP21
5-V DC
power
supply for
output
CW pulse
output
CCW pulse
output
Example
28
+
Servo Driver
(for 5-V inputs)
−
26
29/30
(+)
31/32
(−)
33/34
(+)
35/36
(−)
Connections with a Servo Driver are given below, as an example.
5-V DC
power
supply
FQM1-MMP21
5-V DC
power
supply for
outputs
CW pulse
outputs
CCW pulse
outputs
28
+
Servo Driver
(Line receiver input)
−
26
SG (See note.)
29/30
(+)
31/32
(−)
33/34
(+)
35/36
(−)
Note: When connecting a line receiver, connect the
signal ground (SG for the Servo Driver's line
receiver input and the GND for the 5-V DC
power supply.
73
Section 3-3
Wiring Module Connectors
Connecting Analog
Outputs (FQM1MMA21)
Output signals are connected as shown in the following diagram.
FQM1-MMA21
40-pin connector
Pin No.
38 (V2+)
+
40 (V2−)
−
37 (V1+)
+
39 (V1−)
−
Analog output 2
Analog output 1
Shield
Connecting Analog Inputs (FQM1-MMA21)
Voltage Input
FQM1
Special I/O connector
Pin No.
33 (V1+)
+
35 (V1−)
−
Analog input
Shield
Current Input
FQM1
Special I/O connector
Pin No.
34 Current input
33 (V1+)
+
35 (V1−)
−
Analog input
Shield
3-3-4
Wiring Methods
Either make a cable using the special connector (purchased separately), or
connect to a terminal block using an OMRON special cable with a connector.
Note
(1) Do not apply voltages that exceed the maximum switching capacity of
output circuits and the input voltage of I/O circuits.
(2) Do not mistake positive and negative when wiring power supply, where
there are positive and negative terminals.
(3) To conform to the EC Low Voltage Directive, use a DC power supply for
I/O that has reinforced or double insulation.
(4) Check that the connector wiring has been performed correctly before
supplying power.
(5) Do not pull on cables. Doing so may result in disconnection.
(6) Do not bend cables beyond their natural limit. Doing so may result in disconnection.
Connectors
Connecting MIL Connectors
Connector type
Pressure welded
74
Number of Ordering as a set
pins
(OMRON)
26 pins
40 pins
XG4M-2630-T
XG4M-4030-T
DDK Ltd.
FRC5-A026-3T0S
FRC5-A040-3T0S
Section 3-4
Wiring Servo Relay Units
Applicable Connector-Terminal Block Conversion Units
Connecting Cable
XW2Z-@@@K
Connector-Terminal Block
Conversion Unit
XW2D-40G6
Number of
Size
pins
40 pins
Miniature
XW2B-40G5
XW2B-40G4
XW2Z-@@@J-A28
Recommended Wire
Size
3-4
Standard
Standard
XW2D-34G6
34 pins
Miniature
The recommended size for cable wires is AWG24 to AWG26 (0.2 to
0.13 mm2). Use a cable with an outer diameter of less than 1.61 mm.
Wiring Servo Relay Units
XW2B-80J7-1A Servo Relay Units can be used to connect Motion Control
Modules and Servo Drivers.
A Servo Relay Unit simplifies wiring, e.g., from a Motion Control Module to
two Servo Drivers, for general-purpose I/O wiring, such as for switches and
sensors, and for RS-422A line wiring.
0
o1 rv C W
se _
S
B
A
C
IN
19
The Servo Relay Unit uses a special cable and simplifies connections from
one Motion Control Module to two Servo Drivers, such as the W Series and
SMARTSTEP Series.
Servo Relay Units can be mounted to DIN Track or on the panel itself.
75
Section 3-4
Wiring Servo Relay Units
Nomenclature and Functions
6. Signal switches
7. Terminating resistance switch
4. RS-422 connectors
8. Servo Driver # 2
phase B switch
8. Servo Driver # 1
phase B switch
1. Motion
Control
Module 40-pin
connector
3. Servo Driver #2
connector
2. Motion
Control
Module 34-pin
connector
3. Servo Driver #1
connector
5. Screw-less Clamp Terminal
Block (40 terminals each on
upper and lower tiers)
1,2,3...
Mounting hole
(Can be mounted
to DIN Track.)
1. Motion Control Module 40-pin Connector
Connects to the 40-pin connector on the Motion Control Module.
2. Motion Control Module 34-pin Connector
Connects to the 26-pin connector on the Motion Control Module. The Motion Control Module general-purpose I/O is allocated to the clamp terminal
block.
3. Servo Driver Connectors
Connects to two Servo Drivers.
Motion Control
Module
Corresponding
connecting cable
Servo Driver
cable
Servo Driver
FQM1-MMP21
XW2Z-@@@J-A28 XW2Z-@@@J-B9 W-series Servo
XW2Z-@@@J-A30
Driver
XW2Z-@@@J-B10 SMARTSTEP
FQM1-MMA21
XW2Z-@@@J-A28 XW2Z-@@@J-B13 W-series Servo
XW2Z-@@@J-A31
Driver
4. RS-422 Connector
Pin No.
1
Signal
TXD−
2
3
TXD+
---
4
5
-----
6
7
RXD−
---
8
9
RXD+
---
Case
FG
5. Screw-less, Clamp Terminal Block (80 Terminals)
The clamp terminal block is used for the Motion Control Module generalpurpose I/O and the Servo Driver control signals. It is also used for external
device connections, such as analog inputs and latch signal inputs.
76
Note
+24 V (See note 4.)
IN0
IN1
IN2
IN3
--Servo #2 ALM
Servo #2 TGON
IN8
IN9
IN10
IN11
--Servo #2 RUN
Servo #2 RESET
Servo #2 ECRST
Servo #2 MING
--FG
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
0V
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
---
Servo #2 INP
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
---
OUT4
OUT5
OUT6
OUT7
---
FG
Signal name
+24 V (See note 3.)
No.
0V
Signal name
Latch signal input 1
Latch signal input 2
CNT1 phase A LD + input
CNT1 phase B LD + input
Servo # 1 phase Z LD + output
Voltage input (+) (See note 1.)
Servo #1 ALM
Servo #1 TGON
IN4
IN5
IN6
IN7
--Servo #1 RUN
Servo #1 RESET
Servo #1 ECRST
Servo #1 MING
TXD+
RXD+
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
Latch signal 2 common (0 V)
CNT1 phase A LD −
CNT1 phase B LD −
Servo #1 phase Z LD −
Voltage input (−) (See note 1.)
Servo #1 INP
Common (0 V)
Common (0 V)
Common (0 V)
OUT0
OUT1
OUT2
OUT3
TXD−
RXD−
No. 20
---
Lower Terminal Block Pin Arrangement
Common (0 V)
No. 60
Common (0 V)
5 V (See note 2.)
42
0V
41
Latch signal 1 common (0 V)
Signal name
No. 40
Signal name
Wiring Servo Relay Units
Section 3-4
60
Upper terminal block
Lower terminal block
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
79
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
19
Upper Terminal Block Pin Arrangement
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
(1) Allocated when connecting an FQM1-MMA21 Analog I/O Motion Control
Module.
(2) Used as the power supply for FQM1-MMP21 pulse outputs or SEN outputs for Servo Drivers compatible with absolute encoder.
(3) IN4 to IN11 and OUT0 to OUT7 are used for the servo control signal power supply.
(4) IN0 to IN3 (interrupt inputs) are used for the latch input power supply.
77
Section 3-4
Wiring Servo Relay Units
6. Signal Switches
TER_A
TER_B
TER_Z
X axis
CUR
SER_A
CNT1
SER_B
CNT1
SER_Z
CNT1
Y axis
DA2
VOL
AD
Switch
CNT1
SER_A
CNT1
SER_B
Setting details
SER_A
Connects the Servo #1 phase A to the Motion Control
Module's CNT1 phase A.
TER_A
Connects the external encoder phase A to the Motion
Control Module's CNT1 phase A. (See note a.)
SER_B
Connects the Servo #1 phase B to the Motion Control
Module's CNT1 phase B.
Connects the external encoder phase B to the Motion
Control Module's CNT1 phase B. (See note a.)
Connects the Servo #1 phase Z to the Motion Control
Module's CNT1 phase Z.
Outputs the Servo #1 phase Z output from the terminal.
TER_B
CNT1
SER_Z
SER_Z
DA2
Y axis
TER_Z
VOL
Connects FQM1-MMA21 analog output 2 to Servo #2
REF.
Connects FQM1-MMA21 analog output 2 to Servo #1
TREF.
Sets analog inputs as voltage inputs.
CUR
Sets analog inputs as current inputs. (See note b.)
X axis
AD
Note (a) An external encoder with a line-driver output can be connected.
(b) For 4 to 20 mA current inputs, voltage input (+) and current input
do not need to be connected.
7. Terminating Resistance Switch
Set this terminating resistance switch to ON when the Servo Relay Unit is
at the end of the RS-422A line and the PORT2 terminal is not connected
to PORT1 on another Servo Relay Unit.
SW6
TERM
ON
OFF
8. Servo Driver Phase B Switches
When the high-speed counter is set to absolute mode CW in the System
Setup, inputs are the inverse of the phase from the encoder output phase
B from the Servo Driver. The high-speed counter is used in incremental
mode for all other System Setup settings.
Servo #2
phase B switch
INC
78
servo1
ABS_CWSW8
SW7
servo2
ABS_CW-
Servo #1
phase B switch
INC
Section 3-4
Wiring Servo Relay Units
External Dimensions
Terminating resistance switch
160
Signal switches
4.5 dia.
Phase B switches
100 90
41.7
30.7
15.9
Wiring Screw-less
Clamp Terminal
Blocks
Screw-less clamp terminal blocks use clamps to attach wires, and do not
require screws. In addition to control signal wiring to Servo Drivers, clamp terminal blocks can be used to connect sensors and external devices. A ferrule,
however, must be connected to the sensor or external device cable when connecting to clamp terminal blocks.
The following table shows the suitable ferrules.
Manufacturer
Model
Phoenix Contact Inc.
0.5 mm2 (20AWG)
AI-0.75-10
0.75 mm2 (18AWG)
AI-1.5-10
1.25 mm2 (16AWG)
Nihon Weidmuller Co. Ltd. H 0.5/16 D
Wiring Method
Applicable wire
AI-0.5-10
0.5 mm2 (20AWG)
H 0.75/16 D
0.75 mm2 (18AWG)
H 1.5/16 D
1.25 mm2 (16AWG)
• Inserting Wires
Insert the ferrule into the terminal hole.
• Removing Wires
Push and hold the release button on top of the terminal hole with a small
flat-blade screwdriver and remove the wire.
Small minus screwdriver
02
+V
1
2
3
+V
07
+V
06
+V
05
+V
04
+V
03
+V
NC
4
08
Release button
The following screwdriver can be used when removing wires.
79
Section 3-4
Wiring Servo Relay Units
Recommended Screwdriver
Model
SZF1
80
Manufacturer
Phoenix Contact Inc.
Side
Front
0.6 mm
3.5 mm
Section 3-4
Wiring Servo Relay Units
Wiring when Using Servo Relay Units
CX-Programmer
Programmable
Terminal (PT)
SYSMAC PLC
RS-232C connection or
RS-422A/485 connection
via CJ1W-CIF11
CS1W-CN226/626
Peripheral Port Cable
CM001
PA202
Power Supply Unit
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
MMP21
RDY
RUN
ERR
ON
1
12
FLEXIBLE
MOTION
CONTROLLER
POWER
OFF
IN
2
L1
AC100
-240V
INPUT
0
1
2
3
4
5
6
7
MMA21
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
8
9
10
11
1
RDY
RUN
ERR
IN
2
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
8
9
10
11
0
1
2
3
4
5
6
7
1
End Cover
2
L2/N
26
25
26
CN1
PORT
25
CN2
CN2
CN1
CN1
Servo Relay Unit Cable
NC
RS422
NC
39
40
2
1
39
40
2
1
39
40
Servo Relay Unit Cable
Coordinator Module
Motion Control Modules
(Up to 4 Modules can
be connected)
RS-422A Cable
XW2Z-@@@K ConnectorTerminal Block
Conversion Unit Cable
XW2D-40G6 or other
Connecter-Terminal Block
Conversion Unit
Servo Relay Unit
Servo Relay Unit
Servo Driver
Cable
RS-422A Cable
(Modified by user)
Servo Driver
Servomotor Cable
Servomotor
81
82
6
7
8
9
12
13
TXD−
RXD−
TXD+
RXD+
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
15
76
16
77
17
---
Servo #1 MING
1
78
18
FG
OUT3
0
FG
14
Servo #1 RESET
0
Servo #2 MING
32
54
75
8
---
31
53
7
Servo #2 ECRST
30
74
Servo #1 ECRST
60
OUT7
29
73
6
OUT6
28
OUT2
52
OUT1
51
5
Servo #2 RESET
4
OUT5
50
---
49
Servo #1 RUN
48
---
IN7
47
OUT0
IN6
72
---
Common (0 V)
3
Servo #2 RUN
Common (0 V)
71
IN11
2
OUT4
11
---
10
IN10
IN5
70
Common (0 V)
IN4
1
Common (0 V)
Common (0 V)
Lower Terminal Block Arrangement
Common (0 V)
27
69
IN9
26
68
IN8
46
Servo #1 ALM
Voltage input (+)*
45
Servo #1 TGON
Servo #1 phase Z LD + output
44
Servo #1 INP
CNT1 phase B LD + input
43
Common (0 V)
CNT1 phase A LD + input
42
Servo #2 TGON
Latch signal input 2
41
Servo #2 ALM
Voltage input (−)*
Servo #1 phase Z LD −/0 V
CNT1 phase B LD −/0 V
CNT1 phase A LD −/0 V
Latch signal input 1
40
67
0
Common (0 V)
5
---
IN3
IN2
IN1
25
66
9
Common (0 V)
4
65
8
Common (0 V)
3
24
7
Servo #2 INP
2
23
64
6
---
1
22
63
5
Common (0 V)
0
62
4
Common (0 V)
24 V
21
3
Common (0 V)
20
61
Latch signal 2 0 V
5V
Latch signal 1 0 V
60
2
IN0
24 V
5V
5V
1
Common (0 V)
0V
0
24 V
24 V
Example Servo Relay
Unit Wiring
0V
0V
Wiring Servo Relay Units
Section 3-4
When Servo Relay Units for the FQM1 are used, the I/O power supply is provided from terminals 20-0, 21-1, and 60-40. The only additional wiring
required are the connections between the signals, as shown in the following
diagram.
79
9
Upper
terminal
block
Lower
terminal
block
19
Upper Terminal Block Arrangement
79
55
56
57
58
59
33
34
35
36
37
38
39
19
Section 3-5
List of FQM1 Connecting Cables
3-5
List of FQM1 Connecting Cables
It is recommended that special cables are used when connecting Coordinator
and Motion Control Modules to Servo Relay Units.
CM001
PA202
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
MMP21
RDY
RUN
ERR
ON
1
12
FLEXIBLE
MOTION
CONTROLLER
POWER
OFF
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
L1
AC100
-240V
INPUT
0
1
2
3
4
5
6
7
MMA21
A1
B1
A2
B2
OUT
1
RDY
RUN
ERR
IN
0
1
2
3
4
5
6
7
8
9
10
11
2
A1
B1
A2
B2
OUT
0
1
2
3
4
5
6
7
1
2
L2/N
26
25
26
CN1
PORT
25
CN2
CN2
CN1
CN1
2. Servo Relay Unit Cable
NC
RS422
NC
39
40
2
1
39
40
2
1
39
40
3. Servo Relay Unit Cable
Coordinator Module
Motion Control Modules
4. RS-422A Cable
1. Connector-Terminal
Block Conversion Unit
Cable
XW2D-40G6 Connector
Terminal Block
Conversion Unit
7. RS-422A Cable
(Modified by user)
5. Servo Driver
Cables
Servo Driver
6. Servomotor Cable
Servomotor
Connecting Cable Models
1,2,3...
1. Connector-Terminal Block Conversion Unit Cables (for FQM1-CM001, 40pin MIL Connector)
Specifications
Connects FQM1-CM001 and XW2D-40G6 1 m
Connector-Terminal Block Conversion Unit. 1.5 m
2m
3m
5m
Model
XW2Z-100K
XW2Z-150K
XW2Z-200K
XW2Z-300K
XW2Z-500K
2. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 26-pin
MIL Connector)
Specifications
Connects FQM1-MMP21 and Servo Relay
Unit.
0.5 m
Model
XW2Z-050J-A28
1m
XW2Z-100J-A28
83
Section 3-5
List of FQM1 Connecting Cables
3. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 40-pin
MIL Connector)
Specifications
Connects FQM1-MMP21 and Servo Relay
Unit.
Connects FQM1-MMA21 and Servo Relay
Unit.
0.5 m
Model
XW2Z-050J-A30
1m
0.5 m
XW2Z-100J-A30
XW2Z-050J-A31
1m
XW2Z-100J-A31
4. RS-422A Connecting Cables (with 9-pin D-sub Connector)
Specifications
Connects RS-422A between Servo Relay
Units.
Model
1m
2m
XW2Z-100J-C1
XW2Z-200J-C1
5. Servo Driver Connecting Cables (Servo Relay Unit to Servo Driver)
FQM1-MMP21
FQM1-MMA21
Specifications
Connects Servo Relay
Unit and W-series Servo
Driver.
Connects Servo Relay
Unit and SMARTSTEP.
Connects Servo Relay
Unit and W-series Servo
Driver.
1m
Model
XW2Z-100J-B9
2m
XW2Z-200J-B9
1m
XW2Z-100J-B10
2m
1m
XW2Z-200J-B10
XW2Z-100J-B13
2m
XW2Z-200J-B13
6. Servomotor Connecting Cables
Refer to the catalog for the Servo Driver or Servomotor to be connected.
7. RS-422A Cable, connects Connector-Terminal Block Conversion Unit and
Servo Relay Unit.
• Cut off one end of the RS-422A cable listed above (4.) and attach crimp
terminals.
Pin No.
84
1
Signal
TXD−
2
3
TXD+
---
4
5
-----
6
7
RXD−
---
8
9
RXD+
---
Case
FG
Section 3-6
Wiring Precautions
• Attach the modified cable to the XW2D-40G6 Connector-Terminal Block
Conversion Unit.
XW2D-40G6 ConnectorTerminal Block Conversion Unit
XW2Z-100J-C1 or
XW2Z-200J-C1
RS-422A Cable
RS-422A Connecting Cable
No.
Signal
3-6
3-6-1
2
SDB+
Connector-Terminal Block
Conversion Unit terminal
number
A18
1
8
SDA−
RDB+
A17
B18
6
RDA−
B17
Wiring Precautions
Reducing Electrical Noise
I/O Signal Wiring
Whenever possible, place I/O signal lines and power lines in separate ducts or
raceways both inside and outside of the control panel.
1
1
2
1 = I/O cables
2 = Power cables
1
2
2
Suspended ducts
In-floor ducts
Conduits
If the I/O wiring and power wiring must be routed in the same duct, use
shielded cable and connect the shield to the GR terminal to reduce noise.
85
Section 3-6
Wiring Precautions
Inductive Loads
When an inductive load is connected to I/O, connect a surge suppressor or
diode in parallel with the load as shown below.
IN
L
Diode
L
OUT
DC input
COM
Relay output or
triac output
COM
Surge suppressor
OUT
+
Relay output or
transistor output
COM
Note
Diode
Use surge suppressors and diodes with the following specifications.
Surge suppressor specifications
Diode specifications
Resistor: 50 Ω
Breakdown voltage: 3 times load voltage min.
Capacitor: 0.47 µF
Mean rectification current: 1 A
Voltage: 200 V
External Wiring
Observe the following precautions for I/O wiring, power supply wiring, and
power line wiring.
• When multi-conductor signal cable is being used, do not combine I/O
wires and other control wires in the same cable.
• If wiring racks are parallel, allow at least 300 mm between the racks.
Low-current cables
FQM1 I/O wiring
Control cables
300 mm min.
Control cables
300 mm min.
FQM1 power supply and
general control circuit wiring
Power lines
Ground to 100 Ω or less
• If the I/O wiring and power cables must be placed in the same duct, they
must be shielded from each other using grounded steel sheet metal.
FQM1 power
supply and general
FQM1 I/O wiring control wiring Power lines
Steel sheet metal
200 mm min.
Ground to 100 Ω or less
86
Section 3-6
Wiring Precautions
3-6-2
Connecting I/O Devices
Input Devices
Use the following information for reference when selecting or connecting input
devices.
DC Inputs
The following types of DC input devices can be connected.
Contact output
IN
DC input
COM
Two-wire DC output
IN
Sensor
power
supply
+
DC input
COM +
NPN open-collector output
+
Sensor power
supply
DC input
Output
IN
7 mA
0V
COM +
87
Section 3-6
Wiring Precautions
NPN current output
+
Current
regulator
Output
DC input
IN
7 mA Sensor
power
0V
supply
+
COM +
PNP current output
+
Sensor power
supply
Output
7 mA
0V
DC input
IN
COM
Voltage output
+
COM +
Output
0V
DC input
IN
Sensor
power
supply
• The circuit below should NOT be used for I/O devices having a voltage
output.
+
Output
0V
Sensor
power
supply
DC input
IN
COM
−
Precautions when
Connecting a Two-wire DC
Sensor
When using a two-wire sensor with a 24-V DC input device, check that the following conditions have been met. Failure to meet these conditions may result
in operating errors.
1,2,3...
1. Relation between the FQM1 ON voltage and the sensor residual voltage:
VON ≤ VCC – VR
2. Relation between the FQM1 ON current and sensor control output (load
current):
IOUT (min) ≤ ION ≤ IOUT (max.)
ION = (VCC – VR – 1.5 [FQM1 internal residual voltage])/RIN
If ION is smaller than IOUT (min), connect a bleeder resistor R. The bleeder
resistor constant can be calculated as follows:
R ≤ (VCC – VR)/(IOUT (min.) – ION)
Power W ≥ (VCC – VR)2/R × 4 [allowable margin]
88
Section 3-6
Wiring Precautions
3. Relation between FQM1 OFF current and sensor leakage current:
IOFF ≥ Ileak
Connect a bleeder resistor R if Ileak is greater than IOFF. Use the following
equation to calculate the bleeder resistance constant.
R ≤ (RIN × VOFF)/(Ileak × RIN – VOFF)
Power W ≥ (VCC – VR)2/R × 4 [allowable margin]
DC input
Two-wire sensor
VR
RIN
R
VCC
VCC:
VON:
VOFF:
ION:
IOFF:
RIN:
Power voltage
FQM1 ON voltage
FQM1 OFF voltage
FQM1 ON current
FQM1 OFF current
FQM1 input impedance
VR:
IOUT:
Ileak:
R:
Sensor output residual voltage
Sensor control current (load current)
Sensor leakage current
Bleeder resistance
4. Precautions on Sensor Surge Current
An incorrect input may occur if a sensor is turned ON after the FQM1 has
started up to the point where inputs are possible. Determine the time required for sensor operation to stabilize after the sensor is turned ON and
take appropriate measures, such as inserting into the program a timer delay after turning ON the sensor.
Programming Example
In this example, the sensor’s power supply voltage is used as the input to
CIO 0000.00 and a 100-ms timer delay (the time required for an OMRON
Proximity Sensor to stabilize) is created in the program. After the Completion
Flag for the timer turns ON, the sensor input on CIO 0000.01 will cause output
bit CIO 0001.00 to turn ON.
0000.00
TIM
0000
#0001
TIM0000 0000.01
0001.00
Output Wiring Precautions
Output Short-circuit
Protection
If a load connected to the output terminals is short-circuited, output components and printed circuit boards may be damaged. To guard against this,
incorporate a fuse in the external circuit. Use a fuse with a capacity of about
twice the rated output.
Transistor Output
Residual Voltage
A TTL circuit cannot be connected directly to a transistor output because of
the transistor’s residual voltage. It is necessary to connect a pull-up resistor
and a CMOS IC between the two.
89
Section 3-6
Wiring Precautions
Output Surge Current
When connecting a transistor or triac output to an output device having a high
surge current (such as an incandescent lamp), steps must be taken to avoid
damage to the transistor or triac. Use either of the following methods to
reduce the surge current.
Method 1
Add a resistor that draws about 1/3 of the current consumed by the bulb.
L
OUT
FQM1
+
R
COM
Method 2
Add a control resistor as shown in the following diagram.
R
OUT
FQM1
COM
90
L
+
SECTION 4
Operation
This section describes the operation of the FQM1.
4-1
4-2
4-3
4-4
Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
4-1-1
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
4-1-2
Coordinator Module Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
4-1-3
I/O Refreshing and Peripheral Servicing . . . . . . . . . . . . . . . . . . . . .
94
4-1-4
Startup Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
94
Motion Control Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
4-2-1
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
4-2-2
Description of Each Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
4-2-3
Motion Control Module Operation. . . . . . . . . . . . . . . . . . . . . . . . . .
96
Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99
4-3-1
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99
4-3-2
Status and Operations in Each Operating Mode. . . . . . . . . . . . . . . .
99
4-3-3
Operating Mode Changes and I/O Memory . . . . . . . . . . . . . . . . . . .
100
Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
4-4-1
Power OFF Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
4-4-2
Instruction Execution for Power Interruptions . . . . . . . . . . . . . . . . .
102
91
Section 4-1
Coordinator Module
4-1
Coordinator Module
The FQM1 Coordinator Module and each Motion Control Module have separate ladder programming. Each Module independently processes the ladder
programming, I/O, and peripheral servicing to achieve high-speed I/O
response somewhat like a system of multiple CPU Units.
4-1-1
Outline
The Coordinator Module mainly manages FQM1 operation and performs
peripheral servicing. It has 24 general-purpose I/O, a peripheral port, RS232C port, and RS-422 port. The following diagram shows the internal structure of the Coordinator Module.
Coordinator Module
User program
Cyclic task
Access
I/O memory
Automatic
backup
Auto-
Flash memory matic
backup
User Program
PLC Setup and
other parameters
The CX-Programmer (see note) is used to create the user programs, which
are transferred to the Coordinator Module via the peripheral port. The user
programs includes a cyclic task, which is executed once per cycle, and interrupt tasks, which are executed at synchronous data refresh. The cyclic task is
executed every cycle.
Instructions written in a program are executed in order from the beginning of
the program, and these instructions are used to read from and write to I/O
memory. Once the cyclic task has been completed, cyclic refreshing with the
Motion Control Modules is executed, and then the cyclic task is executed
again (cyclic scan method).
Note
I/O Memory
Install the FQM1 Patch Software for CX-Programmer Ver. 5.0. CX-Programmer Ver. 4.0 or earlier cannot be used. Refer to 8-1 CX-Programmer for
details.
I/O memory is the RAM memory area accessed by the user programs. Part of
I/O memory area is cleared and part of the memory area is retained when the
power is turned OFF and ON again.
I/O memory is also divided into an area that exchanges data with the Motion
Control Modules and an area that is used for internal processing.
92
Section 4-1
Coordinator Module
System Setup
The System Setup contains software switches used to make initial settings
and other settings. As shown in Appendix C System Setup, Auxiliary Area
Allocations, and Built-in I/O Allocations, addresses (words and bits) are allocated for settings in the System Setup. The addresses can normally be
ignored when making the settings, however, because the settings follow CXProgrammer menus.
Flash Memory
When the user writes to the Coordinator Module, the user program, System
Setup settings, other parameters, and part of the DM Area are automatically
backed up to flash memory.
4-1-2
Coordinator Module Operation
The following flowchart shows the operation of the Coordinator Module. Programming is executed before I/O is refreshed and peripherals are serviced.
This cycle is executed repeatedly.
Power ON
Cycle
time
Startup
initialization
• Initialize hardware memory
and system work area.
• Detect connected Motion
Control Modules.
• Clear I/O memory.
• Check user memory.
• Clear forced status, etc.
Common
processing
• Read DIP switch settings.
• Check I/O bus.
• Check user program memory.
Program
execution
• Operation processing: Execute the user programming.
• Error processing: Turn OFF outputs.
• After error: Clear I/O memory (unless a FALS instruction caused
the error.)
I/O
refreshing
Refresh built-in I/O.
Cyclic
refreshing
(See note.)
Exchange cyclic data with Motion Control Modules. (Refreshing is
stopped if there is a bus error.)
Note: Cyclic refreshing occurs in PROGRAM mode as well.
Peripheral
servicing
Perform the following servicing if any events have occurred.
• Motion Control Module event servicing
• Peripheral port servicing
• RS-232C port servicing
• RS-422A port servicing
93
Section 4-1
Coordinator Module
4-1-3
I/O Refreshing and Peripheral Servicing
I/O Refreshing
I/O refreshing updates general-purpose I/O status. All I/O is refreshed in the
same cycle (i.e., time slicing is not used). I/O refreshing is always performed
after program execution.
Cyclic Refreshing
For cyclic refreshing, data is exchanged every cycle between predetermined
areas and the Motion Control Modules.
Peripheral Servicing
Peripheral servicing involves servicing non-scheduled events for external
devices. This includes both processing for service requests from external
devices and service requests to external devices. Most peripheral servicing
involves FINS commands.
The time specified in the system is allocated to each type of servicing and
executed every cycle. If the servicing is finished before the end of the allocated time, the remaining time is not used and the next servicing is started.
Servicing
Contents
Motion Control Mod- • Non-scheduled servicing for FINS commands from Motion
ule event servicing
Control Modules.
• Non-scheduled servicing for FINS commands from the Coordinator Module to the Motion Control Modules.
Peripheral port ser- • Non-scheduled servicing for FINS or Host Link commands
vicing
received via the peripheral or RS-232C ports from the CXProgrammer, PTs, or host computers (e.g., requests for proRS-232C port sergram transfer, monitoring, forced-set/reset operations, or
vicing
online editing).
• Non-scheduled servicing from the Coordinator Module transmitted from the peripheral or RS-232C port.
RS-422A port servic- • Non-scheduled servicing to Servo Driver.
ing
Note
4-1-4
Servicing for Motion Control Modules, peripheral ports, RS-232C ports, and
RS-422A ports is allocated 6.25% of the immediately preceding cycle time by
default. If servicing is separated over more than one cycle, delaying completion of the servicing, set the actual amount of time for Set Time to All Events
(same time for all services) rather than a percentage on the Timer/Peripheral
Service Tab Page in the System Setup.
Startup Initialization
The following initialization is performed once each time the power is turned
ON.
• Detecting mounted Modules
• Clearing the non-retained areas of I/O memory
• Clearing forced-set/reset status
• Performing self-diagnosis (user memory check)
• Restoring the user program
• Restoring retained DM Area data
94
Section 4-2
Motion Control Modules
4-2
4-2-1
Motion Control Modules
Outline
Motion Control Modules each have independent ladder programming, which
perform processing independently from other Modules. The following diagram
shows the internal structure of Motion Control Modules.
Motion Control Module
User program (See note 1.)
RAM and flash memory
I/O memory
General-purpose
Read/Write DM Area
D00000
to
RAM (See note 2.)
D32767
System Setup Area
(See note 1.)
Note
RAM and flash memory
(1) User Memory (UM) Protect
The following data can be write-protected using settings in the System
Setup.
• User program
• System Setup Area
These Areas are stored in RAM and flash memory.
(2) Part of the DM Area in the I/O Memory Area is backed up by a super capacitor.
4-2-2
Description of Each Area
User Program Area
The CX-Programmer (see note) is used to create the Motion Control Module
ladder programs and set the System Setup. Programs and settings are transferred to each Motion Control Module through the peripheral port on the Coordinator Module.
The user program is written using ladder diagram programming and executed
using a cyclic scan method.
95
Section 4-2
Motion Control Modules
Broadly speaking, the user program consists of a cyclic task and interrupt
tasks, which are executed for interrupts. The cyclic task is executed every
cycle. The user program is stored in RAM and flash memory. Data is not lost,
therefore, even if the super capacitor backup time is exceeded.
I/O Memory
I/O memory is the area accessed by the user program and the CX-Programmer. Part of I/O Memory Area is cleared and part of it is retained when the
power is turned OFF and ON again.
I/O memory is also divided into an area that exchanges data with other Motion
Control Modules and an area that is used for internal processing.
System Setup
The System Setup contains software switches used to make initial settings
and other settings for the Motion Control Module. Addresses are allocated for
the settings in the System Setup, but these addresses can normally be
ignored when making the settings, because the settings follow CX-Programmer menus.
The System Setup is stored in RAM and flash memory, so the data is not lost
even if the super capacitor backup time is exceeded.
Read/Write DM Area
(D00000 to D32767)
4-2-3
The Read/Write DM Area can be accessed from the user program.
D00000 to D29999 is cleared when the power is turned OFF and ON again.
D30000 to D32767 is retained for a set period by the super capacitor. The
data is lost when the super capacitor backup time has been exceeded.
Motion Control Module Operation
Operation between the Coordinator Module and the Motion Control Modules
can be set to synchronous (“Sync”) or asynchronous (“Async”) modes using a
setting in the System Setup of the Coordinator Module.
System Setup Using CX-Programmer
Tab page
Module Settings
ASync Mode Operation
Item
Synchronization between
Modules
Settings
• Sync Mode
• ASync Mode
In ASync Mode, scan processing by the Motion Control Modules is not synchronized with the Coordinator Module. Motion Control Module built-in I/O
refreshing is executed within the scan cycle in the Motion Control Module. I/O
refreshing with the Coordinator Module is determined by the Coordinator
Module and is executed asynchronously to the Motion Control Module scan
processing.
Synchronous Data Link Bit Area refreshing is not executed in ASync Mode.
96
Section 4-2
Motion Control Modules
Motion Control Module
Basic I/O
Basic
inputs
(12)
Pulse
inputs (2)
or analog
input (1)
Pulse or
analog
outputs (2)
Special I/O
Basic
outputs
(8)
Coordinator Module
Initialization at power ON
Initialization at power ON
Common processing
Common processing
Program execution
Program execution
I/O refreshing in Module
1. Basic I/O refreshing
2. Special I/O refreshing
3. Refreshing with
Coordinator Module
Peripheral servicing
RUN/STOP and
other commands
Cyclic refreshing
General-purpose
I/O, e.g., status
Peripheral servicing
The cyclic refreshing with the Coordinator Module
is performed during the scan cycle of each Motion
Control Module and involves the asynchronous
read/write of shared memory.
Sync Mode Operation
In Sync Mode, the Motion Control Module's cyclic scan is synced with the
Coordinator Module's cyclic scan or the sync cycle time set in the System
Setup. The program in each Motion Control Module is thus executed at the
same time.
When operation is synchronized to the Coordinator Module cycle scan, the
start of program execution in every cycle is the same for all Modules. When
operation is synchronized to the sync cycle time, the start of program execution in every cycle is the same for all Motion Control Modules.
Motion Control Modules send all synchronous data link bits to the Coordinator
Module and all other Motion Control Modules each Coordinator Module cyclic
scan or at the specified sync cycle time. (See note 1.)
Each Module can access the synchronous data link bits from all other Modules. (Refer to 5-4 Synchronous Data Refresh for details.)
Note
(1) This depends on the sync cycle time set in the System Setup of the Coordinator Module (0.1 to 10.0 ms, 0.1-ms increments).
(2) High-speed counter inputs, pulse outputs, or any other data can be set
for each Module.
!Caution When the Coordinator Module changes from PROGRAM mode to RUN or
MONITOR modes, the Motion Control Modules will switch to RUN or MONITOR mode one cycle later. Similarly, when the Coordinator Module switches
from RUN or MONITOR modes to PROGRAM mode, the Motion Control Modules will switch one cycle later. The operating modes for all Motion Control
Modules will switch in the same cycle.
97
Section 4-2
Motion Control Modules
Coordinator
Module
Start operation (RUN mode entered)
Operation
Operation
PROGRAM
(See note.)
(See note.)
Operation
(See note.)
1 cycle later
Motion
Control
Module
PROGRAM
Cycle
Start operation (RUN start)
Operation
Operation
Program
(See note.) (See note.)
Note: "Operation" means either RUN or MONITOR mode.
Initialization at At
power ON
Internal Module initialization (determining the operating mode, initializing user
memory, clearing specified memory areas, checking for memory corruption,
reading the System Setup, etc.) is performed and the bus that exchanges data
with the Coordinator Module is initialized.
Common Processing
Common processing, which does not depend on special I/O, is performed.
Program Execution
The Motion Control Module's ladder program is executed. Basic I/O is
refreshed whenever the IORF instruction is executed. Special I/O can also be
refreshed for Modules with analog I/O.
Cycle Time
Calculation
The execution time for one cycle is monitored. If a constant cycle time is set,
processing is performed to make the cycle time constant. (Refer to 5-6-1 Constant Cycle Time Function for information on constant cycle time processing.)
Motion Control
Module Built-in I/O
Refreshing
The following 3 types of built-in I/O refreshing are performed by Motion Control Modules.
1,2,3...
1. Basic I/O Refreshing
Output bits to output contacts, inputs contacts to input bits
2. Special I/O Refreshing
Pulse inputs, pulse outputs, analog inputs, analog outputs, etc.
3. Coordinator Module Refreshing
Data exchange with Coordinator Module
Note
(1) Special I/O refreshing refreshes high-speed counter present values and
other special I/O.
(2) Motion Control Module built-in I/O refreshing is also executed in PROGRAM mode and during fatal errors (including FALS instructions) (input
refresh only).
(3) Coordinator Module cyclic refreshing (allocated data exchange) is executed at the same time as the Coordinator Module scan processing. This
refreshing exchanges data between the Coordinator Module and the Motion Control Modules, so it is asynchronous with the Motion Control Module's cyclic refreshing. Coordinator Module cyclic refreshing is also
executed in PROGRAM mode and during fatal errors (including FALS instructions).
Peripheral Servicing
98
Event servicing requests from the Coordinator Module are serviced.
Section 4-3
Operating Modes
4-3
4-3-1
Operating Modes
Operating Modes
Coordinator and Motion Control Modules have three operating modes that
control the user program.
PROGRAM
Programs are not executed and preparations, such as initializing the System
Setup and other settings, transferring programs, checking programs, forcesetting, force-resetting, and checking wiring can be executed prior to program
execution. Motion Control Module built-in I/O refreshing and Coordinator Module cyclic refreshing are, however, executed in this mode.
MONITOR
Programs are executed, but some operations, such as online editing and
changing present values in I/O memory, are enabled for trial operation and
other adjustments.
RUN
Programs are executed but some operations, such as online editing and
changing the present values in I/O memory using CX-Programmer, cannot be
performed. The CX-Programmer can monitor the program execution status
(program and I/O memory monitoring). The main system operation is performed in RUN mode.
Note
(1) The operating mode of Motion Control Modules cannot be changed independently in Sync Mode. Always change the operating mode of the Coordinator Module in Sync Mode.
(2) To debug Motion Control Module programs, change the Coordinator Module to ASync Mode under the System Setup and change the operating
mode for that Motion Control Module.
4-3-2
Status and Operations in Each Operating Mode
PROGRAM, RUN, and MONITOR are the three FQM1 operating modes. The
following tables list status and operations for each mode.
Mode
Program
I/O
External
I/O Memory
CX-Programmer operations
execu- refresh outputs
Cleared Retained
I/O
Program Program transfers Program System Program ForceChang- Chang- Changtion
areas
areas
Memory monitorcheck
Setup changes set/reset ing timer/ ing timer/ ing I/O
(See
FQM1 to Commonitoring
changes
counter counter Memory
note.)
computer to
ing
SV
PV
PV
puter
FQM1
PROGRAM Stopped
Executed
OFF
Clear
RUN
Performed
Executed
ConControlled by protrolled by gram
program
MONITOR
Performed
Executed
ConControlled by protrolled by gram
program
Note
Retained OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
OK
×
×
×
×
×
×
×
×
OK
OK
OK
×
×
×
OK
OK
OK
OK
OK
The following table shows the relationship of operating modes to tasks.
Mode
PROGRAM
Cyclic task status
Disabled
Interrupt task status
Stopped
RUN
MONITOR
Enabled
Executed if interrupt condition is
met.
99
Section 4-4
Power OFF Operation
4-3-3
Operating Mode Changes and I/O Memory
Mode Changes
Note
Cleared areas
Retained areas
• I/O bits
• Data Link bits
• Work bits
• Timer PV
RUN or MONITOR to Cleared (See note 1.)
PROGRAM
PROGRAM to RUN Cleared (See note 1.)
or MONITOR
• DM Area
• Counter PV
RUN to MONITOR or Retained (See note 2.)
MONITOR to RUN
Retained
Retained
Retained
(1) The cycle time will increase by approximately 10 ms when the operating
mode is changed from MONITOR to RUN mode. This will not cause an
error for exceeding the maximum cycle time limit.
(2) In Sync Mode, the Motion Control Module operating mode will change
one cycle after the Coordinator Module operating mode has changed.
4-4
4-4-1
Power OFF Operation
Power OFF Operation
The following processing is performed if FQM1 power is interrupted during
operation. The following power OFF processing will be performed if the power
supply falls below 85% of the minimum rated voltage while in RUN or MONITOR mode.
1,2,3...
1. The Motion Control Modules and Coordinator Module will stop.
2. All outputs from all Modules will be turned OFF.
85% of the rated voltage (AC power):
85 V AC for 100 V
170 V AC for 200 V
85 V AC for 100 to 240 V (wide range)
The following processing will be performed if power drops only momentarily
(momentary power interruption).
1,2,3...
1. The system will continue to run unconditionally if the momentary power interruption lasts less than 10 ms, i.e., the time it takes the minimum rated
voltage at 85% or less to return to 85% or higher is less than 10 ms.
2. A momentary power interruption that lasts more than 10 ms but less than
25 ms is difficult to determine and a power interruption may or may not be
detected.
3. The system will stop unconditionally if the momentary power interruption
lasts more than 25 ms.
It thus requires between 10 and 25 ms to detect a power interruption. This
time can be increased by setting the User-set Power OFF Detection Time (0
to 10 ms) in the System Setup.
Note
100
The User-set Power OFF Detection Time appears in the System Setup simply
as the “Power OFF Detection Time.”
Section 4-4
Power OFF Operation
85% of the rated voltage or less
10 ms
25 ms
Time
0
0 to 10 ms
Momentary power
interruption not detected
and operation continues.
Power supply
voltage
10 to 25 ms
Power supply
voltage
25 ms
Operation will continue or stop
depending on whether or not a
momentary power interruption
is detected.
Power supply
voltage
Momentary power
interruption detected
and operation stops.
Note
The above timing chart shows an example when the User-set Power OFF
Detection Time is set to 0 ms.
The following timing chart shows the Coordinator Module power OFF operation in more detail.
Power OFF Timing Chart
Operation always stopped at this
point regardless.
85% of rated
voltage
Holding time for 5 V internal
power supply after power
OFF detection: 10 ms.
Power OFF detected
Power OFF confirmed
Power OFF
detected signal
Program execution
status
Fixed Power OFF
Detection Time:
Default is 10 to
25 ms (Power OFF
undetermined)
User-set Power
OFF Detection
Time: 0 to 10 ms
(set in System
Setup)
Cyclic task or interrupt tasks not associated with power OFF
Processing time after
power OFF is confirmed:
10 ms minus User-set
Power OFF Detection
Time
Note: The interrupt task
execution time must be
less than or equal to processing time after power
OFF is confirmed.
Stopped
Reset signal
Fixed Power OFF Detection Time
The time it takes to detect power OFF after the power supply falls below 85%
of the minimum rated voltage.
User-set Power OFF Detection Time
The time after power OFF is detected until it is confirmed. This can be set in
the System Setup within a range from 0 to 10 ms (default: 0 ms).
If an unstable power supply is causing power interruptions, set a longer Userset Power OFF Detection Time (10 ms max.) in the System Setup.
Power Holding Time
The maximum amount of time (fixed at 10 ms) that 5 V will be held internally
after power interruption is detected.
101
Section 4-4
Power OFF Operation
Description of Operation
Power OFF will be detected if the 100 to 240 V AC power supply stays below
85% of the minimum rated voltage for the Fixed Power OFF Detection Time
(variable between 10 to 25 ms.)
If the User-set Power OFF Detection Time is set (0 to 10 ms) in the System
Setup, the reset signal will turn ON and the Module will be reset immediately
after the User-set Power OFF Detection Time expires.
4-4-2
Instruction Execution for Power Interruptions
If power is interrupted and the interruption is confirmed when the Coordinator
Module or Motion Control Module is operating in RUN or MONITOR mode, the
instruction currently being executed will be completed and then the Module
will be reset.
102
SECTION 5
Module Functions and Data Exchange
This section describes the functions common to both the Coordinator Module and Motion Control Modules and the
methods to transfer data between the Coordinator Module and Motion Control Modules.
5-1
Synchronous Operation between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
5-2
Data Exchange between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
105
5-3
Cyclic Refresh. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
5-3-1
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
5-3-2
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
5-3-3
Cyclic Refresh Area Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
107
5-3-4
Cyclic Refresh Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . .
108
Synchronous Data Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
5-4-1
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
5-4-2
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
5-4-3
Synchronous Data Link Bit Area . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
5-4-4
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
DM Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
5-5-1
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
5-5-2
Settings Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
113
5-5-3
Executing DM Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
113
Cycle Time Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
5-6-1
Constant Cycle Time Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
5-6-2
Watch Cycle Time Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
5-6-3
Cycle Time Monitoring Function . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
5-6-4
Clearing Constant Cycle Time Exceeded Errors . . . . . . . . . . . . . . .
117
5-4
5-5
5-6
5-7
5-8
Operation Settings at Startup and Maintenance Functions . . . . . . . . . . . . . . .
118
5-7-1
Specifying the Startup Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
5-7-2
Program Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
5-7-3
Flash Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
119
Diagnostic Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
5-8-1
Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
5-8-2
Failure Alarm Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
121
103
Section 5-1
Synchronous Operation between Modules
5-1
Synchronous Operation between Modules
Sync and ASync Modes
Sync Mode
The Coordinator Module and Motion Control Modules are normally set to
operate using the same cycle time, i.e., synchronously. Synchronous operation is the default setting in the System Setup. With this setting, all Motion
Control Modules synchronize operation with the Coordinator Module cycle
time. This allows synchronous control of up to 8 axes.
System Setup
Default
Module Settings Tab Page Sync Mode
Synchronization between Sync Cycle Time = 0 ms
Modules
Coordinator Module cycle time
ASync Mode
Settings
Use in Sync Mode (default).
To operate only the Motion Control Modules with high-speed
synchronous operation, set a value for the Coordinator Module sync cycle time.
The Motion Control Modules can be operated at high-speed in ASync Mode.
Some delays in peripheral servicing may occur, but ASync Mode is useful for
increasing the speed of overall system operation.
System Setup
Module Settings Tab Page
Synchronization between
Modules
104
Default
Sync Mode
Settings
Set to ASync Mode.
Section 5-2
Data Exchange between Modules
5-2
Data Exchange between Modules
The three methods for data exchange between Coordinator and Motion Control Modules are outlined in the following table. These methods can be used
simultaneously.
Method
Outline
Description
1. Cyclic refresh Exchanges data each
Coordinator Module cycle.
2. Synchronous Broadcasts data at a specdata refresh ified sync cycle.
A Cyclic Refresh Area is allocated for each Motion Control
Module in the Coordinator Module.
Specified synchronous data is broadcast from each Motion
Control Module and the Coordinator Module. All other
Modules receive and share the data in the Synchronous
Data Link Bit Area.
3. DM data
transfer
Data is transferred in the specified direction between the
specified DM Area words of a specified Motion Control
Module and the specified DM Area words of the Coordinator Module when the DM Write Request Bit (A530.00) or
DM Read Request Bit (A530.01) in the Auxiliary Area of
the Coordinator Module is turned ON.
Transfers large volumes of
data between a specified
Motion Control Module and
the Coordinator Module
when required.
Coordinator
Module
Cyclic
Refresh
Area
Motion Control
Module #1
Motion Control
Module #2
Motion Control
Module #3
Motion Control
Module #4
Cyclic
Refresh
Area
Cyclic
Refresh
Area
Cyclic
Refresh
Area
Cyclic
Refresh
Area
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
1. Cyclic refresh
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
2. Synchronous data refresh
Specified
DM Area
words
Specified
DM Area
words
3. DM data transfer
105
Section 5-3
Cyclic Refresh
5-3
5-3-1
Cyclic Refresh
Outline
Status information, general-purpose I/O, and other information for each
Motion Control Module in the Cyclic Refresh Area of the Coordinator Module
are refreshed every Coordinator Module cycle (asynchronous to the Motion
Control Module cycles).
As shown in the following diagram, 10 words per Motion Control Module (5
output words and 5 input words) are allocated according to the Motion Control
Module slot number (#1 to #4 in the following diagram) in the Cyclic Refresh
Area of the Coordinator Module (CIO 0100 to CIO 0139).
Coordinator
Module
Motion Control
Module #1
Motion Control
Module #2
Motion Control
Module #3
Motion Control
Module #4
CIO 0000
CIO 0100
to
CIO 0104
CIO 0105
to
CIO 0109
CIO 0100
to
CIO 0104
CIO 0105
to
CIO 0109
CIO 0100
to
CIO 0104
CIO 0105
to
CIO 0109
CIO 0100
to
CIO 0104
CIO 0105
to
CIO 0109
to
CIO 0099
CIO 0100
to
CIO 0104
CIO 0105
to
CIO 0109
CIO 0110
to
CIO 0114
CIO 0115
to
CIO 0119
CIO 0120
to
CIO 0124
CIO 0125
to
CIO 0129
CIO 0130
to
CIO 0134
CIO 0135
to
CIO 0139
Note
5-3-2
Cyclic refreshing between the Coordinator Module and Motion Control Modules is asynchronous. Information may take up to 2 cycles to be received.
Applications
In addition to the Synchronous Data Link Bit Area, normal data exchange
between the Coordinator Module and Motion Control Modules is possible
using the Cyclic Refresh Area.
Information for which high-speed data exchange between Modules is not
required can be allocated anywhere, and a ladder program written for the
Coordinator Module and Motion Control Modules to access these areas during operation can be created.
106
Section 5-3
Cyclic Refresh
5-3-3
Cyclic Refresh Area Details
Coordinator Module
Cyclic Refresh Area
CIO 0100 to CIO 0109 in each Motion Control Module is allocated to ten
words between CIO 0100 to CIO 0139 in the Coordinator Module according to
the slot number for the Motion Control Module.
CM:
MM:
Word
address
Bits
CIO 0100 to 00 to
CIO 0104
15
CIO 0105
Coordinator Module
Motion Control Module
00 to
07
08
09
10
11
Details
CM Output Refresh Area (CM to MM)
The data in this area is allocated to the MM Input Refresh Area (CM to MM) for Motion Control
Module #1.
Reserved.
Refresh Area for CM Input
MM #1
Refresh Area
(MM to CM)
The data in the
MM Output
Refresh Area
(MM to CM) for
MM #1 is allocated here.
Reserved
Cycle time over warning
OFF: No error
ON: Cycle time exceeded 10 ms.
MM #1 non-fatal error (including FAL instructions)
OFF: No non-fatal error
ON: Non-fatal error
MM #1 fatal error (including FALS instructions)
OFF: No fatal error
ON: Fatal error
12 to
14
Reserved
15
MM #1 program status
OFF: Stopped (PROGRAM mode)
ON: Executing (RUN or MONITOR mode)
CIO 0106 to 00 to
CIO 0109
15
CM Input Refresh Area (MM to CM)
The data in the MM Output Refresh Area (MM to CM) for MM #1 is allocated to this area.
CIO 0110 to 00 to
CIO 0119
15
CIO 0120 to 00 to
CIO 0129
15
Refresh Area for Same as for MM #1.
MM #2
These areas can be used as work bits by the Coordinator Module when no
Refresh Area for Motion Control Modules are connected.
MM #3
CIO 0130 to 00 to
CIO 0139
15
Refresh Area for
MM #4
Motion Control
Module Cyclic
Refresh Areas
Word
address
Motion Control Modules use CIO 0100 to CIO 0109, as shown in the following
table.
CM: Coordinator Module
MM Motion Control Module
Bits
CIO 0100 00 to 15 MM Input Refresh Area (CM
CIO 0101 00 to 15 to this MM)
CIO 0102 00 to 15 The data in the Coordinator
Module's CM Output Refresh
CIO 0103 00 to 15 Area (CM to MM) is allocated
CIO 0104 00 to 15 to this area.
Details
General-purpose refresh data from CM to MM.
107
Section 5-3
Cyclic Refresh
Word
Bits
address
CIO 0105 00 to 07 MM Output Refresh Area
(This MM to CM)
08
Data from this area is allo09
cated to the Coordinator Module's CM Input Refresh Area
(MM to CM).
10
11
12 to 14
15
Details
Reserved
Reserved
Cycle time over warning
OFF: No error
ON: MM cycle time exceeded 10 ms.
Non-fatal error for this Motion Control Module (including FAL
instructions)
OFF: No non-fatal error
ON: Non-fatal error
Fatal error for this Motion Control Module (including FALS instructions)
OFF: No fatal error
ON: Fatal error
Reserved
Program status for this Motion Control Module
OFF: Stopped (PROGRAM mode)
ON: Executing (RUN or MONITOR mode)
General-purpose refresh data from MM to CM
CIO 0106 00 to 15
CIO 0107 00 to 15
CIO 0108 00 to 15
CIO 0109 00 to 15
5-3-4
Cyclic Refresh Area Allocations
CM: Coordinator Module
MM: Motion Control Module
Direction
Motion Control Module
allocation
Word
address
Bits
Details
Coordinator Module allocation
#1
Word
address
CM to CIO 0100 00 to 15 General-pur- CIO 0100
MM
CIO 0101 00 to 15 pose refresh CIO 0101
data from CM
CIO 0102 00 to 15 to MM
CIO 0102
CIO 0103 00 to 15
CIO 0103
#2
Bit
Word
address
#3
Bit
Word
address
#4
Bit
Word
address
Bit
00 to 15 CIO 0110 00 to 15 CIO 0120 00 to 15 CIO 0130 00 to 15
00 to 15 CIO 0111 00 to 15 CIO 0121 00 to 15 CIO 0131 00 to 15
00 to 15 CIO 0112 00 to 15 CIO 0122 00 to 15 CIO 0132 00 to 15
00 to 15 CIO 0113 00 to 15 CIO 0123 00 to 15 CIO 0133 00 to 15
CIO 0104 00 to 15
CIO 0104 00 to 15 CIO 0114 00 to 15 CIO 0124 00 to 15 CIO 0134 00 to 15
MM to CIO 0105 00 to 07 Reserved
CIO 0105 00 to 07 CIO 0115 00 to 07 CIO 0125 00 to 07 CIO 0135 00 to 07
CM
08
Reserved
08
08
08
08
09
Cycle time
09
09
09
09
over warning
10
Non-fatal
10
10
10
10
error
11
Fatal error
11
11
11
11
12 to 14 Reserved
15
Program status
CIO 0106 00 to 15 General-pur- CIO 0106
CIO 0107 00 to 15 pose refresh CIO 0107
data from
CIO 0108 00 to 15 MM to CM
CIO 0108
CIO 0109 00 to 15
CIO 0109
108
12 to 14
15
12 to 14
15
12 to 14
15
12 to 14
15
00 to 15 CIO 0116 00 to 15 CIO 0126 00 to 15 CIO 0136 00 to 15
00 to 15 CIO 0117 00 to 15 CIO 0127 00 to 15 CIO 0137 00 to 15
00 to 15 CIO 0118 00 to 15 CIO 0128 00 to 15 CIO 0138 00 to 15
00 to 15 CIO 0119 00 to 15 CIO 0129 00 to 15 CIO 0139 00 to 15
Section 5-4
Synchronous Data Refresh
5-4
5-4-1
Synchronous Data Refresh
Outline
If Sync is set under Synchronization between Modules in the System Setup,
each Module will broadcast the specified data (2 types data, 4 words max.) to
the Synchronous Data Link Bit Areas each Coordinator Module cycle or specified sync cycle.
Each other Module receives this data. Every Module can access the synchronous data for every other linked Module.
If Synchronization between Modules is set to Sync, the cycle for every Motion
Control Module will be automatically synchronized to the Coordinator Module
or specified sync cycle, which enables the use of the synchronous Data Link
Bit Areas as synchronous data.
The Synchronous Data Link Bit Area is from CIO 0200 to CIO 0219, with 4
words allocated to each Module (Coordinator Module and all Motion Control
Modules).
Sync Cycle Time
When Sync Mode is set, the Sync Cycle Time can be set under Sync Cycle
Time in the Coordinator Module’s System Setup. (Default: Coordinator Module cycle time. Setting range: 0.1 to 10.0 ms, Unit: 0.1 ms.)
Note
Synchronous Data
Set the Sync Cycle Time longer than the longest cycle time among the synchronized Motion Control Modules.
Any of the following data can be set as synchronous data for each Module (4
words max.)
• Ladder execution results
• High-speed counter 1/2 PV
• Pulse output 1/2 PV
• Analog input value
• Analog 1/2 output value
• Built-in I/O input
5-4-2
Applications
An example application would be the creation of a virtual axis in any Module
for all Modules to refer to when synchronizing operation. Another application
is for the results of ladder program execution to be used as synchronous data.
Coordinator
Module
Motion Control
Module #1
Motion Control
Module #2
Motion Control
Motion Control
Module #3
Module #4
CIO 200
to
CIO 203
#0
(4 words)
#0
(4 words)
#0
(4 words)
#0
(4 words)
#0
(4 words)
CIO 204
to
CIO 207
CIO 208
to
CIO 211
CIO 212
to
CIO 215
CIO 216
to
CIO 219
#1
(4 words)
#1
(4 words)
#1
(4 words)
#1
(4 words)
#1
(4 words)
#2
(4 words)
#2
(4 words)
#2
(4 words)
#2
(4 words)
#2
(4 words)
#3
(4 words)
#3
(4 words)
#3
(4 words)
#3
(4 words)
#3
(4 words)
#4
(4 words)
#4
(4 words)
#4
(4 words)
#4
(4 words)
#4
(4 words)
Synchronous
data transfer
109
Section 5-4
Synchronous Data Refresh
Synchronous Data
Normal (via Ladder)
Counter 1 values
Counter 2 values
Pulse output 1
System Setup
Select Synchronous
Data
Set in upper
2 words
4 words of data transferred for each Module
Example: 4 words of data sent
by Motion Control Module #1
+0
+1
+2
+3
Pulse output 2
Analog input
Analog output 1
Analog output 2
System Setup
Select Synchronous
Data
Set in lower
2 words
Counter 1 values
Pulse output 1
Transfer
Above example: Motion Control
Module #1 sends its high-speed
counter 1 PV and pulse output 1 PV
as the synchronous data link bits.
Inner I/O input
(Built-in input)
Note
(1) Synchronous data for Coordinator Modules is fixed to general-purpose
(ladder execution results) data.
(2) If there is no synchronous data to be sent, select no data for Select Synchronous Data in the System Setup to shorten the synchronous data
transfer time.
(3) Auxiliary Area data is transferred when input and output refresh method
is set to Immediate refresh and the synchronous data is set to an analog
input or analog output value in the System Setup.
5-4-3
Synchronous Data Link Bit Area
Synchronous Data
Word
Link Bit Areas in
address
Coordinator and
(See note
Motion Control
1.)
Modules
Sent from Coordina- CIO 0200
tor Module
CIO 0201
CIO 0202
Sent from Motion
Control Module #1
Sent from Motion
Control Module #2
Sent from Motion
Control Module #3
110
Bits
Method for selecting type of synchronous data
00 to 15
Fixed to general-purpose data (e.g., ladder execution results)
00 to 15
00 to 15
Fixed to general-purpose data (e.g., ladder execution results)
CIO 0203
CIO 0204
00 to 15
00 to 15
CIO 0205
CIO 0206
00 to 15
00 to 15
CIO 0207
CIO 0208
00 to 15
00 to 15
CIO 0209
CIO 0210
00 to 15
00 to 15
CIO 0211
CIO 0212
00 to 15
00 to 15
CIO 0213
CIO 0214
00 to 15
00 to 15
CIO 0215
00 to 15
Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #1.
Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #1.
Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #2.
Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #2.
Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #3.
Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #3.
Section 5-4
Synchronous Data Refresh
Synchronous Data
Word
Link Bit Areas in
address
Coordinator and
(See note
Motion Control
1.)
Modules
Sent from Motion
CIO 0216
Control Module #4
CIO 0217
CIO 0218
CIO 0219
Note
Bits
00 to 15
00 to 15
00 to 15
00 to 15
Method for selecting type of synchronous data
Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #4.
Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #4.
(1) Addresses are the same for the Coordinator Module and all Motion Control Modules.
(2) When the synchronous data is one-word data (analog input values, analog output values, built-in I/O, etc.), the other word can be used for general-purpose data.
5-4-4
Settings
The following settings must be made beforehand when using the synchronous
data refresh function.
System Setup
(Coordinator Module)
Synchronization between Modules and Sync Cycle Time must be set in the
Coordinator Module's System Setup.
Synchronization between Modules
Name
Settings
Module Settings Tab Page Sync/Async
Sync Mode
Default
Sync
Description
Synchronization
between Modules
Auxiliary Area
Flags
---
Enabled
At power ON
Sync Cycle Time
Name
Settings
Module Settings Tab Page Default (cycle time)
(0.1 to 10.0 ms)
Sync Cycle Time
Default
Description
CM cycle time Sync cycle time
(unit: 0.1 ms)
Auxiliary Area
Flags
A404.06
Sync Cycle Time
Too Long Flag
Enabled
At power ON
When the Sync Cycle Time is specified, all Motion Control Modules will synchronize with the Coordinator Module cycle time in PROGRAM mode. The
specified Sync Cycle Time is enabled in RUN and MONITOR modes, and the
Motion Control Module cycle times will change to the set Sync Cycle Time
when in these modes.
Synchronous data link bits will be broadcast from each Module at the time
specified under Sync Cycle Time.
If an interrupt task 000 is created, it can be used as a regular interrupt task
executed each Sync Cycle Time.
When the Sync Cycle Time is on the default setting, the synchronous data link
bits are broadcast from each Module each Coordinator Module cycle. The
Motion Control Module cycles are synchronous with the Coordinator Module
cycle.
Note
If the Sync Cycle Time Too Long Flag (A404.06) turns ON in the Coordinator
Module, it means that the Motion Control Module cycle time is longer than the
Sync Cycle Time. Either change the Sync Cycle Time or check the Motion
Control Module ladder program and shorten the Motion Control Module cycle
time to less than the Sync Cycle Time.
111
Section 5-5
DM Data Transfer
System Setup (Motion Control Modules)
Selecting Synchronous
Data
Tab page
Module
Settings
Select the type of synchronous data to be sent by each Motion Control Module in the System Setup for that Motion Control Module, as shown in the following table.
Function
Settings
Select Syn- Upper 2 words
chronous
(+0 and +1)
Data
Lower 2 words
(+2 and +3)
Note
Prohibit System
Interruption of the Sync
Mode
Name
Enabled
At power
ON
Normal (via Ladder)
Counter 1 values
Counter 2 values
Pulse output 1
Pulse output 2
Analog input
Reserved
Analog output 1
Analog output 2
Inner I/O input (built-in input)
No data (See note.)
The time for synchronous data exchange can be shortened by selecting No
data.
Use this function to keep the timing of the calculation start for each Motion
Control Module as close as possible, when using Sync Mode.
Function
Settings
Module Settings Tab Page Prohibit system interrup- OFF: Allow system interruption of the sync
tion of the sync mode
mode
Execution Process
ON: Prohibit system interruption of the
sync mode
Enabled
At start of operation
!Caution Do not set this function to Prohibit system interruption of the sync mode when
the cycle time is 10 ms or longer. Doing so may cause the System Clock Bits
to malfunction.
Note
5-5
5-5-1
Settings are made using the CX-Programmer Ver. 5.0@ menus.
DM Data Transfer
Outline
Large volumes of any DM data can be transferred between the Coordinator
Module and a Motion Control Module at any specified timing.
• Only DM Area words can be used for transfer in both the Coordinator
Module and Motion Control Modules.
• Up to 499 words can be transferred.
Data is transferred in the specified direction between the specified DM Area
words in a specified Motion Control Module and the specified DM Area words
in the Coordinator Module when the DM Write Request Bit (A530.00) or DM
Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module is
turned ON.
This function is used, for example, to manage data in the Coordinator Module
for use by Motion Control Modules when the data must be backed up.
DM data transfer is possible in PROGRAM, RUN, or MONITOR mode for the
Coordinator Module and Motion Control Modules.
112
Section 5-5
DM Data Transfer
5-5-2
Settings Details
The settings for using the DM data transfer function are made in the Auxiliary
Area.
Name
Address
DM Write Request Bit (Coordinator A530.00
Module to Motion Control Module)
Description
Read/write
DM data transfer is executed from the Coordinator Mod- Enabled
ule to Motion Control Module when this bit turns ON.
DM Read Request Bit (Motion
Control Module to Coordinator
Module)
Slot No. of Motion Control Module
for DM Transfer
A530.01
DM data transfer is executed from the Motion Control
Module to Coordinator Module when this bit turns ON.
A531
Specifies the slot number (in 4-digit hexadecimal) for the
Motion Control Module with which DM data is to be
transferred.
0001: Motion Control Module #1
0002: Motion Control Module #2
0003: Motion Control Module #3
0004: Motion Control Module #4
DM Transfer Size (number of
words)
A532
Specifies the size, in number of words, of the DM data to
be transferred.
0001 to 01F3 hex (1 to 499 words)
First DM Transfer Source Word
A533
First DM Transfer Destination
Word
A534
Transfer Error Flag
A535.14
Specifies the first address of the DM transfer source in
the Coordinator Module or Motion Control Module.
0000 to 7FFF hex
Specifies the first address of the DM transfer destination
in the Coordinator Module or Motion Control Module.
0000 to 7FFF hex
Turns ON when a DM data transfer error occurs.
Transfer Busy Flag
A535.15
Turns ON during DM data transfer and turns OFF when
the transfer has been completed.
DM Read/Write
Request Bit
A535.15
Transfer Busy Flag
A535.14
Transfer Error Flag
Error cleared at start of transfer.
5-5-3
Turns ON when transfer
has been completed if an
error has occurred.
Executing DM Data Transfer
Step 1: Make Auxiliary
Area Settings
To transfer data, the Auxiliary Area settings, described earlier, must be made.
The following settings are made in the Auxiliary Area.
• Slot No. of Motion Control Module for DM Transfer
Specifies the slot number for the Motion Control Module to which DM data
is being transferred.
• Transfer details
• DM Transfer Size (number of words)
• First DM Transfer Source Word
• First DM Transfer Destination Word
113
Section 5-6
Cycle Time Settings
Step 2: Turn ON Request
Bit
• Transferring DM Data from the Coordinator Module to a Motion Control
Module: Turn ON the DM Write Request Bit (Coordinator Module to
Motion Control Module) (A530.00).
• Transferring DM Data from a Motion Control Module to the Coordinator
Module: Turn ON the DM Read Request Bit (Motion Control Module to
Coordinator Module) (A530.01).
Programming Example
The following diagram shows a programming example for the Coordinator
Module when transferring DM data from the Coordinator Module (CM) to the
Motion Control Module mounted to slot #1 (MM).
CM
D00200 to D00299
㨃000.00
@MOV
#0001
A531
@MOV
#0064
A532
Transfer of 100 words
of DM data
MM
D00100 to D00199
@MOV
#00C8
A533
@MOV
#0064
A534
Set to slot #1, the slot for
the Motion Control
Module for the DM data
transfer.
DM Transfer Size:
Set to 100 (64 hex).
First DM Transfer
Source Word (in CM):
Set to C8 Hex (D00200).
First DM Transfer
Destination Word (in
MM):
Set to 64 Hex (D00100).
A530.00 (CM to MM
transfer request)
Note
5-6
When executing a DM data transfer from a Motion Control Module to the
Coordinator Module (DM read request), do not set the First DM Transfer
Source Word to D30000 or higher
Cycle Time Settings
This section describes the constant cycle time function, the watch cycle time
function, and the cycle time monitoring function.
5-6-1
Constant Cycle Time Function
A constant cycle time can be set with the FQM1 Series. Programs are executed at standard intervals, which allows the control cycles for Servomotors to
be constant.
The constant cycle time is set using the Cycle Time setting in the System
Setup (0.1 to 100.0 ms, unit: 0.1 ms).
Constant cycle
time (enabled)
Real cycle time
Constant cycle
time (enabled)
Real cycle time
Constant cycle
time (enabled)
Real cycle time
If the real cycle time is longer than the set cycle time, the constant cycle time
function will be ignored and operation will be based on the real cycle time.
114
Section 5-6
Cycle Time Settings
Constant cycle time
Constant cycle time
Real time
Real time
Constant cycle time (enabled)
Real time
System Setup
Tab page
Name
Timer/Peripheral servicing or Cycle Time
Cycle Time
Settings
0.1 to 100.0 ms,
0.1 ms units
Default
Variable
Constant Cycle Time Exceeded Flag
Name
Address
Constant Cycle Time A404.05
Exceeded Flag
Description
This flag turns ON when the constant cycle
time function is used and the cycle time
exceeds the constant cycle time set value.
Constant Cycle Time Exceeded Error Clear Bit
Name
Address
Constant Cycle Time A509.15
Exceeded Error
Clear Bit
Description
The constant cycle time function can be
enabled again after the cycle time has
exceeded the constant cycle time and A404.05
has turned ON.
Constant Cycle Time
Function in Sync
Mode
When in Sync Mode with a Sync Cycle Time set for the Coordinator Module
cycle time (default), and the constant cycle time function is used, the cycle
time for Motion Control Modules will be as described below.
Constant Cycle Time
Function Enabled for
Coordinator Module
The Motion Control Module cycle time is synchronized with the Coordinator
Module constant cycle time, and will therefore be constant.
Constant cycle time
Constant cycle time
Coordinator
Module
Waiting to
synchronize
Motion
Control
Module
Constant Cycle Time
Function Enabled for
Motion Control Module
Processing
I/O refresh
Waiting to
synchronize
Processing
I/O refresh
The Motion Control Module cycle time is synchronized with the Coordinator
Module constant cycle time, and gradually is made constant, while the Motion
Control Module's built-in I/O refresh timing is made constant.
The time from when the processing starts in the Motion Control Module until
the I/O refresh will be constant.
115
Section 5-6
Cycle Time Settings
Constant cycle time
Constant cycle time
Coordinator
Module
Waiting for I/O refresh Waiting to
synchronize
to become constant
Motion
Control
Module
Processing
I/O refresh
Waiting to
synchronize
I/O refresh
Processing
Constant I/O
refresh timing
Note
5-6-2
Waiting for I/O refresh
to become constant
Constant I/O
refresh timing
When the constant cycle time function is enabled for the Motion Control Module in ASync Mode, the Motion Control Module's cycle time will be constant.
Watch Cycle Time Function
If the real cycle time is longer than the set watch cycle time, operation will stop
for all Modules and the Cycle Time Too Long Flag (A401.08) in the Auxiliary
Area will turn ON.
System Setup
Tab page
Timer/Peripheral Servicing or Cycle Time
Name
Cycle Time
Details
0.1 to 100.0 ms
(unit: 0.1 ms)
Watch Cycle Time 1 to 100 ms
(unit: 1 ms)
Default
Variable
50 ms
!Caution If the Cycle Time Too Long Flag turns ON for one Module in Sync Mode, the
Cycle Time Too Long Flag will turn ON for all Modules.
Note
The settings are made using CX-Programmer Ver. 5.0@ menus.
Cycle Time Too Long Flag
Name
Address
Cycle Time Too Long A401.08
Flag
5-6-3
Details
Turns ON if the cycle time PV exceeds the
Watch Cycle Time in the System Setup.
Cycle Time Monitoring Function
Every cycle, the maximum cycle time is stored in A206 and A207 and the PV
is stored in A208 and A209 in the Auxiliary Area.
Auxiliary Area Words
Name
Addresses
Meaning
Maximum Cycle
Time
A206 to A207
The maximum cycle time value is stored in
binary each cycle. The time is measured in
0.01-ms units.
Cycle Time PV
A208 to A209
The cycle time PV is stored in binary each
cycle. The time is measured in 0.01-ms
units.
The average cycle time for the last 8 scans can also be read from the CX-Programmer.
Note
116
The FQM1 can skip program areas that do not need to be executed by using
the JMP-JME instructions to shorten cycle times.
Section 5-6
Cycle Time Settings
5-6-4
Clearing Constant Cycle Time Exceeded Errors
When using the constant cycle time function, normally the cycle time will no
longer stay constant (i.e., will vary depending on the real cycle time) if the
constant cycle time is exceeded once. To return to a constant cycle time even
if the cycle time has been exceeded once, turn ON the Constant Cycle Time
Exceeded Error Clear Bit (A509.15) (i.e., set to 1).
This function allows a constant cycle time to be restored and variations in I/O
processing time to be kept to a minimum even if the cycle time is temporarily
long as a result of special processing, e.g., initialization at the start of user
programs in each Module.
Normal Operation
The constant cycle time function is cleared if the cycle time exceeds the set
constant cycle time.
Cycle time
Constant cycle
time value
Constant cycle time cleared
Constant cycle
time
Real cycle time
Time
Constant Cycle Time Exceeded Error Clear Function
The constant cycle time function can be enabled again by turning ON the
Constant Cycle Time Exceeded Clear Bit.
Cycle time
Constant cycle
time
Constant cycle time cleared
Constant cycle time
enabled again
Constant cycle
time
Real cycle time
Time
Constant Cycle Time
Exceeded Flag
(A404.05)
Constant Cycle Time
Exceeded Error Clear Bit
(A509.15)
ON for 1 scan
Auxiliary Area Bits
Bit
Constant Cycle Time A509.15
Exceeded Error
Clear Bit
Function
Controlled by
OFF to ON:
User
Constant cycle time exceeded
error cleared.
117
Section 5-7
Operation Settings at Startup and Maintenance Functions
5-7
Operation Settings at Startup and Maintenance Functions
This section describes the following operation settings at startup and maintenance functions.
• Operating mode at startup
• Program protection
• Remote programming and monitoring
• Flash memory
5-7-1
Specifying the Startup Mode
The operating mode when the power is turned ON can be specified in the
System Setup.
Power ON
System Setup
Tab page
Startup
Note
5-7-2
Name
Startup
Mode
Details
Specifies the
initial operating
mode when the
power is turned
ON.
Settings
System Setup disabled
• RUN mode
System Setup enabled
• PROGRAM mode
• MONITOR mode
• RUN mode
Default
System Setup
disabled
The operating mode at startup for Motion Control Modules will be the same as
that for the Coordinator Module when in Sync Mode, but will be RUN mode
when in ASync Mode.
Program Protection
The FQM1 provides the following kinds of protection for user programs.
Read Protection
Using Passwords
Read and display access to the user program area can be blocked from the
CX-Programmer. Protecting the program will prevent unauthorized copying of
the program and loss of intellectual property.
A password is set for program protection from the CX-Programmer and read
access is prevented to the whole program.
Note
(1) If you forget the password, the program in the FQM1 cannot be transferred to the computer.
(2) If you forget the password, programs can be transferred from the computer to the FQM1. Programs can be transferred from the computer to the
FQM1 even if the password protection has not been released.
118
Section 5-7
Operation Settings at Startup and Maintenance Functions
Password Protection
1,2,3...
1. Register a password either online or offline.
a. Select the Module in the Device Type drop-down menu and select
Properties from the View Menu.
b.
Select Protection from the PLC Properties Dialog Box and input the
password.
2. Set password protection online.
a. Select PLC/Protection/Set. The Protection Setting Dialog Box will be
displayed.
b.
5-7-3
Click the OK Button.
Flash Memory
Automatic Backup to
Flash Memory
The user program and parameters are automatically backed up in flash memory whenever they are written.
• The following data is backed up automatically: User program, parameters
(including the System Setup, absolute offset data, and analog I/O offset
gain adjustment values), and some DM Area data (only for the Coordinator Module).
• The automatic backup is executed whenever the Module user program or
parameter area is written (e.g., for data transfer operations from the CXProgrammer and online editing).
• The user program and parameter data written to flash memory is automatically transferred to user memory at startup.
Data transfer from
CX-Programmer
Module
Online editing from
CX-Programmer
User program
User memory
Transfer operation
Parameters
Automatic backup
Automatically restored when Module is turned ON.
Flash memory
Note
The backup status will be displayed in a Memory Backup Status Window by
the CX-Programmer when backing up data from the CX-Programmer for
transfer operations other than normal data transfers (PLC/Transfer). To
obtain this window, display of the backup status dialog box must be selected
119
Section 5-8
Diagnostic Functions
in the PLC properties and Window/PLC Memory Backup Status must be
selected from the View Menu. For normal transfer operations (PLC/Transfer),
the backup status will be displayed in the transfer window after the transfer
status for the program and other data. Never turn OFF the FQM1 power during these backup operations. The flash memory will be corrupted if the power
is turned OFF.
Auxiliary Area Flags
Name
Flash Memory Error
Flag
5-8
Address
A403.10
Meaning
Turns ON when the flash memory is corrupted.
Diagnostic Functions
This section provides a brief overview of the following diagnostic and debugging functions.
• Error Log
• Failure Alarm Functions (FAL(006) and FALS(007))
5-8-1
Error Log
Each time that an error occurs, the Module stores error information in the
Error Log Area. The error information includes the error code (stored in A400)
and error contents. Up to 20 records can be stored in the Error Log.
In addition to system-generated errors, the Module records user-defined
FAL(006) and FALS(007) errors, making it easier to track the operating status
of the system.
Refer to SECTION 9 Error Processing for details.
Note
A user-defined error is generated when FAL(006) or FALS(007) is executed in
the program. The input conditions of these instructions constitute the userdefined error conditions. FAL(006) generates a non-fatal error and FALS(007)
generates a fatal error that stops program execution.
When more than 20 errors occur, the oldest error data (in A100 to A104) is
deleted, the remaining 19 records are shifted down by one record, and the
newest record is stored in A195 to A199.
120
Section 5-8
Diagnostic Functions
Order of
occurrence
Error code
4102
C101
80C0
1
2
Error Log Area
A100
A101
A102
A103
A104
A105
A106
A107
A108
A109
4
1 0 2
0
0
0
C
1
1
1
1
0
0
0
1 0 1
1 0 1
1 0 1
A195
A196
A197
A198
A199
8 0 C 0
0
0
0
0
1
1
1
1
Error code
Error contents
Error code
Error contents
20
0
0
0
Error code
Error contents
1 0 1
1 0 1
1 0 1
A408
Error Log Pointer
The number of records is stored in binary in the Error Log Pointer (A408). The
pointer is not incremented when more than 20 errors have occurred.
Note
5-8-2
The FQM1 does not support a clock and the time data in the error log will
always be 0101.
Failure Alarm Functions
The FAL(006) and FALS(007) instructions generate user-defined errors.
FAL(006) generates a non-fatal error and FALS(007) generates a fatal error
that stops program execution.
When the user-defined error conditions (input conditions for FAL(006) or
FAL(007)) are met, the Failure Alarm instruction will be executed and the following processing will be performed.
1,2,3...
1. The FAL Error Flag or FALS Error Flag in the Auxiliary Area is turned ON.
2. The corresponding error code is written to the Auxiliary Area.
3. The error code is stored in the Error Log.
4. The error indicator on the front of the Modules will flash or light.
5. If FAL(006) has been executed, the Modules will continue operating.
If FALS(007) has been executed, the Modules will stop operating. (Program execution will stop.)
Operation of FAL(006)
A
FAL
002
#0000
When input condition A goes ON, an error with FAL number 2 is generated
and A402.15 (FAL Error Flag) is turned ON. Program execution continues.
121
Section 5-8
Diagnostic Functions
Errors generated by FAL(006) can be cleared by executing FAL(006) with FAL
number 00 or performing the error read/clear operation from the CX-Programmer.
Operation of FALS(007)
B
FALS
003
#0000
When input condition B goes ON, an error with FALS number 3 is generated
and A401.06 (FALS Error Flag) is turned ON. Program execution is stopped.
Errors generated by FALS(007) can be cleared by eliminating the cause of the
error and performing the error read/clear operation from the CX-Programmer.
122
SECTION 6
Coordinator Module Functions
This section describes the serial communications functions, which are supported only by the Coordinator Module.
6-1
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124
6-1-1
Host Link Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
6-1-2
No-protocol Communications (RS-232C Port) . . . . . . . . . . . . . . . .
129
6-1-3
NT Link (1:N Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
131
6-1-4
Serial PLC Links. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
132
6-1-5
Serial Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
134
6-1-6
No-protocol Communications (RS-422A Port) . . . . . . . . . . . . . . . .
136
123
Section 6-1
Serial Communications
6-1
Serial Communications
The FQM1 supports the following serial communications functions.
Protocol
Host Link
Connections
Host computer or
OMRON PT (Programmable Terminal)
Description
Various control commands,
such as reading and writing
I/O memory, changing the
operating mode, and forcesetting/resetting bits, can be
executed by sending Host
Link (C-mode) commands or
FINS commands from the
host computer to the Coordinator Module.
Use Host Link communications to monitor data, such as
status trace data, or to send
data, such as operating conditions information, to the
FQM1.
Ports
Peripheral
RS232C
OK
Not allowed
Communicate with general- Not
purpose devices connected allowed
to the RS-232C port without
a command–response format. The TXD(236) and
RXD(235) instructions are
executed from the program to
transmit data from the send
port or read data at the
receive port. The frame
headers and end codes can
be specified.
OK
Not allowed
1:N NT Link OMRON PT
(The 1:N NT (Programmable Terminal)
Link communications are
used even
for 1:1 connections.)
Data can be exchanged with
PTs without using a communications program in the
Coordinator Module.
OK
Not allowed
Serial PLC
Link Slave
Up to ten words per Module Not
can be shared with up to
allowed
eight Coordinator Modules
as slaves using a CJM1 CPU
Unit as the maser.
An RS-422A Converter can
be connected to the RS232C port on each Coordinator Module to communicate
via RS-422A/485, or one
Coordinator Module can
communicate via an RS232C connection to the
CJ1M master.
The Serial PLC Links can
also include PTs as slaves
via NT Links (1:N) combined
with Coordinator Modules.
OK
Not allowed
OMRON PT
(Programmable
Terminal)
Host computer
or
No-protocol
Monitor and
set parameters
General-purpose
external device
CJ1W-CIF11
connected to
RS-232C port
(See note.)
For NSCJ1M CPU Unit
series PT:
Master
NS-AL002
RS-422A/485
FQM1
FQM1
8 Units max.
CJ1M CPU Unit
Master
RS-232C
FQM1
124
OK
RS422A
OK
Section 6-1
Serial Communications
Protocol
Connections
Description
Peripheral
Peripheral
Bus
Programming Device
(CX-Programmer)
Serial Gateway
Host computer
OMRON PT
(Programmable
Terminal)
or
Ports
RS232C
RS422A
Provides high-speed commu- OK
nications with the CX-Programmer.
(Remote programming
through modems is not supported.)
OK
Not allowed
Communications are possiNot
ble between a host comallowed
puter or PT connected to the
RS-232C port and Servo
Drivers connected to the RS422A port.
Not allowed
OK
TXD(236) and RXD(235)
Not
instructions in the Coordina- allowed
tor Module program can be
used to send data to and
receive data from Servo Drivers.
Not allowed
OK
Servo Drivers
No-protocol
FQM1
Servo Drivers
Note
The CJ1W-CIF11 is not insulated and the total transmission distance is 50
meters max. If the total transmission distance is greater than 50 meters, use
the insulated NT-AL001 and do not use the CJ1W-CIF11. If only the NTAL001 is used, the total transmission distance is 500 meters max.
125
Section 6-1
Serial Communications
6-1-1
Host Link Communications
The following table shows the Host Link communication functions available in
FQM1. Select the method that best suits your application.
Command
flow
Host computer
to FQM1
Command type
C-mode (Host Link)
commands
Host Link command
Communications method
Create frame in
the host computer and send
command to
the FQM1.
Receive the
response from
the FQM1.
FINS command (with
Host Link header
and terminator)
Configuration
Directly connect the host computer in a 1:1 or
1:N system.
OR
Command
Directly connect the host computer in a 1:1
or 1:N system.
Application and
remarks
Use this method
when communicating primarily
from the host computer to the FQM1.
To use FINS commands, the host
computer must
send the commands using a
Host Link header
and terminator.
FINS
OR
Header
Terminator
Command
Procedure
Set the System Setup from the
CX-Programmer. (Settings such
as the Host Link communications mode and parameters.)
Refer to CX-Programmer
Operation Manual for CXProgrammer procedures.
Power OFF
Connect the Coordiator Module
to the general-purpose external
device using RS-232C.
Power ON
Host computer to FQM1
Send host link
commands from
the host computer.
Send FINS commands from the
host computer.
A list of Host Link commands is provided next. Refer to the C-series Host Link
Units System Manual (W143) for details on Host Link and FINS commands.
126
Section 6-1
Serial Communications
Host Link Commands
Type
Reading I/O
memory
The following table lists the Host Link commands. Refer to the C-series Host
Link Units System Manual (W143) for details.
Header
code
Name
Function
RR
CIO AREA READ
RC
PV READ
RG
T/C STATUS READ
Reads the status of the Completion Flags of the specified
number of timers/counters, starting from the specified
timer/counter.
RD
DM AREA READ
Reads the contents of the specified number of DM Area
words, starting from the specified word.
RJ
AR AREA READ
WR
CIO AREA WRITE
WC
PV WRITE
WD
DM AREA WRITE
Reads the contents of the specified number of Auxiliary Area
words, starting from the specified word.
Writes the specified data (word units only) to the CIO Area,
starting from the specified word.
Writes the PVs (present values) of the specified number of
timers/counters, starting from the specified timer/counter.
Writes the specified data (word units only) to the DM Area,
starting from the specified word.
WJ
AR AREA WRITE
Writes the specified data (word units only) to the Auxiliary
Area, starting from the specified word.
R#
SV READ 1
Reads the 4-digit BCD constant or word address in the SV of
the specified timer/counter instruction.
R$
SV READ 2
Searches for the specified timer/counter instruction beginning
at the specified program address and reads the 4-digit constant or word address of the SV.
R%
SV READ 3
Searches for the specified timer/counter instruction beginning
at the specified program address and reads the 4-digit BCD
constant or word address of the SV.
W#
SV CHANGE 1
Changes the 4-digit BCD constant or word address in the SV
of the specified timer/counter instruction.
W$
SV CHANGE 2
Searches for the specified timer/counter instruction beginning
at the specified program address and changes the 4-digit constant or word address of the SV.
W%
SV CHANGE 3
MS
STATUS READ
Searches for the specified timer/counter instruction beginning
at the specified program address and changes the 4-digit constant or word address of the SV.
Reads the operating status of the Coordinator Module (operating mode, force-set/reset status, fatal error status).
SC
MF
STATUS CHANGE
ERROR READ
Changes the Coordinator Module’s operating mode.
Reads errors in the Coordinator Module (non-fatal and fatal).
KS
FORCE SET
Force-sets the specified bit.
KR
FK
FORCE RESET
MULTIPLE FORCE
SET/RESET
Force-resets the specified bit.
Force-sets, force-resets, or clears the forced status of the
specified bits.
KC
FORCE SET/RESET CAN- Cancels the forced status of all force-set and force-reset bits.
CEL
Reading model
codes
MM
PLC MODEL READ
Reads the model type of the FQM1.
Test commands
TS
TEST
Returns, unaltered, one block of data transmitted from the
host computer.
Writing I/O
memory
Changing
timer/counter
set values
Status commands
Force-set/reset
commands
Reads the contents of the specified number of CIO Area
words, starting from the specified word.
Reads the contents of the specified number of timer/counter
PVs (present values), starting from the specified
timer/counter.
127
Section 6-1
Serial Communications
Type
Program area
access commands
Compound
reading of I/O
memory
Header
code
RP
Name
PROGRAM READ
WP
PROGRAM WRITE
QQMR
COMPOUND COMMAND
Reads the contents of the Coordinator Module’s user program
area in machine language (object code).
Writes the machine language (object code) program transmitted from the host computer into the Coordinator Module’s user
program area.
Registers the desired bits and words in a table.
QQIR
COMPOUND READ
Reads the registered words and bits from I/O memory.
ABORT (command only)
Aborts the Host Link command that is currently being processed.
Initializes the transmission control procedure of all Host Link
Units connected to the host computer.
This response is returned if the header code of a command
was not recognized.
Processing Host XZ
Link communications
**
INITIALIZE (command
only)
Undefined command
(response only)
IC
FINS Commands
Type
I/O Memory
Area Access
Function
The following table lists the FINS commands. Refer to the C-series Host Link
Units System Manual (W143) for details.
Command
code
Name
Function
01
01
01
02
MEMORY AREA READ
MEMORY AREA WRITE
Reads consecutive data from the I/O memory area.
Writes consecutive data to the I/O memory area.
01
03
MEMORY AREA FILL
Fills the specified range of I/O memory with the same
data.
01
04
Reads non-consecutive data from the I/O memory area.
01
05
MULTIPLE MEMORY AREA
READ
MEMORY AREA TRANSFER
02
01
PARAMETER AREA READ
02
02
02
03
PARAMETER AREA WRITE
PARAMETER AREA FILL
Program Area 03
Access
03
03
06
PROGRAM AREA READ
Writes consecutive data to the parameter area.
Fills the specified range of the parameter area with the
same data.
Reads data from the user program area.
07
08
PROGRAM AREA WRITE
PROGRAM AREA CLEAR
Writes data to the user program area.
Clears the specified range of the user program area.
Execution
Control
04
01
RUN
04
02
STOP
Switches the Coordinator Module to RUN or MONITOR
mode.
Switches the Coordinator Module to PROGRAM mode.
05
05
01
02
CONTROLLER DATA READ
CONNECTION DATA READ
Reads Coordinator Module information.
Reads the model numbers of the specified Units.
Parameter
Area Access
Configuration
Read
Status Read
Message
Access
Access Right
Error Access
128
Copies and transfers consecutive data from one part of
the I/O memory area to another.
Reads consecutive data from the parameter area.
06
01
CONTROLLER STATUS READ
Reads the Coordinator Module’s status information.
06
20
CYCLE TIME READ
09
20
MESSAGE READ/CLEAR
Reads the average, maximum, and minimum cycle
times.
Reads/clears messages and FAL(S) messages.
0C
01
ACCESS RIGHT ACQUIRE
Acquires the access right if no other device holds it.
0C
02
ACCESS RIGHT FORCED
ACQUIRE
Acquires the access right even if another device currently holds it.
0C
03
ACCESS RIGHT RELEASE
21
01
ERROR CLEAR
Releases the access right regardless of what device
holds it.
Clears errors and error messages.
21
21
02
03
ERROR LOG READ
ERROR LOG CLEAR
Reads the error log.
Clears the error log pointer to zero.
Section 6-1
Serial Communications
Type
Forced Status
Command
Name
code
23
01
FORCED SET/RESET
23
6-1-2
02
Function
Force-sets, force-resets, or clears the forced status of
the specified bits.
FORCED SET/RESET CANCEL Cancels the forced status of all force-set and force-reset
bits.
No-protocol Communications (RS-232C Port)
No-protocol Mode is used to send and receive data using the communications
port TXD(236) and RXD(235) I/O instructions in the Coordinator Module ladder program, without using retry processing, data conversion, branch processing based on received data, or other communications procedures and
without converting the data.
No-protocol mode can be used with the RS-232C and RS-422A ports in the
Coordinator Module. Data can be sent or received in one direction only
between the Module and the general-purpose external device connected to
the RS-232C or RS-422A port.
For example, data can be input from a bar code reader or output to a printer,
or parameter data can be sent and received from a host controller.
FQM1
Coordinator Module
Coordinator Module ladder program
TXD/RXD
instructions
RS-232C port
No protocol
RS-232C
General-purpose external device
The following table lists the no-protocol communications functions available
for the FQM1.
Send/receive
Transfer
direction
Method
Sending data
FQM1 to Gen- Execute
eral-purpose
TXD(236) in
external
the program
device
Receiving
data
General-purpose external
device to
FQM1
Execute
RXD(235) in
the program
Max.
Frame format
amount of
Start code
End code
data
256 bytes
Yes: 00 to FF
Yes: 00 to FF
No: None
CR+LF
None
(Specify reception data size to
between 1 and
256 bytes when
set to none.)
256 bytes
Other functions
• Send delay time
(delay between
TXD(236) execution
and sending data
from specified port):
0 to 99,990 ms (unit:
10 ms)
• RS and ER signal
ON/OFF
Monitoring of CS and
DR signals
129
Section 6-1
Serial Communications
Procedure
Make the System Setup settings from the
CX-Programmer (e.g., set the serial
communications mode to Non-procedural
and set the other communications
conditions.)
Refer to the CX-Programmer
Operation Manual.
Power OFF
Connect the Coordinator Module and the
general-purpose external device using
RS-232C
Power ON
FQM1 → General-purpose
external device
General-purpose external
device → FQM1
Execute TXD.
Execute RXD.
Data can be placed between a start code and end code for transmission by
TXD(236) and frames with that same format can be received by RXD(235).
When transmitting with TXD(236), just the data from I/O memory is
transmitted, and when receiving with RXD(235), just the data itself is stored in
specified area in I/O memory.
Message Frame
Formats
Up to 256 bytes (not including the start and end codes) can be transferred
each time TXD(236) or RXD(235) are used. The start and end codes are
specified in the System Setup.
Message Frame Formats for No-protocol Mode Transmission and Reception
Item
End code setting
No
Start code
setting
Yes
No
Yes
Data
Data
256 bytes max.
256 bytes max.
Data
ST
256 bytes max.
ST
CR+LF
Data
ED
Data
256 bytes max.
CR+LF
256 bytes max.
ED
ST
Data
CR+LF
256 bytes max.
• When more than one start code is used, the first start code will be valid.
• When more than one end code is used, the first end code will be valid.
• If the data being transferred contains the end code, the data transfer will
be stopped midway. In this case, change the end code to CR+LF.
Note
130
The transmission of data after the execution of TXD(236) can be delayed by a
specified transmission delay time, as shown in the following diagram.
Section 6-1
Serial Communications
Transmission
delay time
Transmission
Time
TXD(236) instruction
Refer to the Instructions Reference Manual (Cat. No. O011) for more details
on the TXD(236) and RXD(235) instructions.
System Setup
RS-232C Settings (Host Link Port Settings)
Item
Note
6-1-3
Mode
RS-232C
Setting
Default
Host Link
Enabled
Each cycle
Delay
End Code
0 to 99,990 ms (unit: 10 ms)
00 to FF hex
0 ms
00 hex
Start Code
Received bytes
00 to FF hex
1 to 255 bytes
00 hex
256 bytes
Use of end code
Use of start code
Received bytes or CR+LF
None
Received bytes
None
The settings are made using CX-Programmer Ver. 5.0@ menus.
NT Link (1:N Mode)
With the FQM1, communications are possible with PTs (Programmable Terminals) using NT Links (1:N mode).
Note
Communications are not possible using the 1:1-mode NT Link protocol. Also,
the standard baud rate must be used.
The settings can be made using System Setup and the PT system menu.
System Setup
Communications
port
Peripheral
port
RS-232C
port
PT System Menu
Name
Settings
contents
Default
Other
conditions
Mode
NT Link (1:N
mode)
Host Link
Baud
Standard NT
Link
Standard NT
Link
Turn ON pin 2
on the Coordinator Module
DIP switch.
NT Link max.
Mode
0 to 7
NT Link (1:N
mode)
0
Host Link
-----
Baud
Standard NT
Link
Standard NT
Link
NT Link max.
0 to 7
0
---
Set the PT as follows:
1,2,3...
1. Select NT Link (1:N) from the Comm. A Method or Comm. B Method on
the Memory Switch Menu in the System Menu on the PT.
2. Press the SET Touch Switch to set the Comm. Speed to Standard. Highspeed communications are not possible.
131
Section 6-1
Serial Communications
6-1-4
Serial PLC Links
Overview
The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLC
Master. (It cannot be connected by the Complete Link Method.) Program-free
data exchange can be achieved between the master and slave by connecting
a CJ1M CPU Unit as the master and the FQM1 as the slave. The FQM1 connection is made to the RS-232C port on the Coordinator Module.
CIO 0080 to CIO 0099 in the Serial PLC Link Bit Area in the Coordinator Module are shared with the CJ1M master as shown below.
CIO 0080 to CIO 0089: CJ1M master to FQM1 slave
CIO 0090 to CIO 0099: FQM1 slave to CJ1M maser
Note
Use a CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter when connecting more than one FQM1 to the same CJ1M CPU Unit (1:N, where N = 8
max.).
Up to 10 words can be sent by the CJM1 and FQM1. Fewer words can be
sent by setting the number of link words, but the number of words will be the
same for both the CJM1 and FQM1.
System Configuration
1:N Connection between CJ1M and FQM1 Controllers (8 Nodes Max.)
CJ1M CPU Unit (master)
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapter connected to RS-232C port
RS-422A/485
Coordinator Module
Data sharing
FQM1
(slave)
FQM1
(slave)
FQM1
(slave)
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapters connected to RS-232C ports
8 nodes max.
1:1 Connection between CJ1M and FQM1 Controller
CJ1M CPU Unit (master)
RS-232C
Data sharing
FQM1
(slave)
132
Coordinator Module
Section 6-1
Serial Communications
Direction of Data Transfer
CJ1M CPU Unit (master)
For example, if the number of link words is set to 10, the CJ1M CPU Unit
(master) will broadcast CIO 3100 to CIO 3109 from its I/O memory and to
CIO 0080 to CIO 0089 in the I/O memory of each FQM1 Controller (slaves).
Each FQM1 Controller will send CIO 0090 to CIO 0099 from its I/O memory to
consecutive sets of 10 words in the CJ1M CPU Unit.
FQM1 (slave) No. 0
FQM1 (slave) No. 1
Serial PLC Link Bit Area
FQM1 (slave) No. 2
Serial PLC Link Bit Area
Serial PLC Link Bit Area
CIO 3100 to CIO 3109
CIO 0080 to CIO 0089
CIO 0080 to CIO 0089
CIO 0080 to CIO 0089
No. 0 CIO 3110 to CIO 3119
No. 1 CIO 3120 to CIO 3129
CIO 0090 to CIO 0099
CIO 0090 to CIO 0099
CIO 0090 to CIO 0099
No. 2 CIO 3130 to CIO 3139
No. 3 CIO 3140 to CIO 3149
No. 4 CIO 3150 to CIO 3159
No. 5 CIO 3160 to CIO 3169
No. 6 CIO 3170 to CIO 3179
No. 7 CIO 3180 to CIO 3189
Source Words and
Number of Link Words
The words that will be sent depend on the number of link words as shown in
the following table.
Send direction
No. of link words
1 word
Send words
2 words
3 words
...
10 words
CJ1M (master) to
(FQM1) slave
(CIO 3100) (CIO 3100 to (CIO 3100 to ...
CIO 3101)
CIO 3102)
(CIO 3100 to
CIO 3109)
CJ1M to FQM1 No. 0
CJ1M to FQM1 No. 1
CIO 0080
CIO 0080 to
CIO 0089
CIO 0080 to
CIO 0081
CIO 0080 to
CIO 0082
...
CJ1M to FQM1 No. 2
CJ1M to FQM1 No. 3
CJ1M to FQM1 No. 4
CJ1M to FQM1 No. 5
CJ1M to FQM1 No. 6
CJ1M to FQM1 No. 7
Note
Procedure
CJ1M CPU Unit I/O memory addresses are given in parentheses.
The Serial PLC Links operate according to the following settings in the PLC
Setup and System Setup.
CJ1M (Master) Settings
1,2,3...
1. Set the serial communications mode of the RS-232C communications port
to Serial PLC Links (Polling Unit).
2. Set the link method to the Polling Unit Link Method.
3. Set the number of link words (1 to 10).
4. Set the maximum unit number in the Serial PLC Links (0 to 7).
FQM1 (Slave) Settings
1,2,3...
1. Set the serial communications mode of the RS-232C communications port
to PC Link (Slave).
2. Set the unit number of the Serial PLC Link slave.
133
Section 6-1
Serial Communications
Settings
CJ1M (Master) PLC Setup
Item
Address
Word
RS-232C
Serial communica- 160
port setting tions mode
Port baud rate
161
Link method
166
Number of link
words
Highest unit number
Note
Bits
08 to 11
Set value
Default
04 to 07
8 hex: Serial PLC Links
Polling Unit
00 to 09 hex: Standard
(0A hex: High-speed cannot be used.)
ON: Polling Unit links
(OFF: Complete links
cannot be used.)
1 to A hex
00 to 03
0 to 7 hex
00 to 07
15
Refresh timing
0 hex
Every cycle
00 hex
0
0 hex (See
note 1.)
0 hex
(1) Automatically allocates 10 words (A hex) when the default setting of 0
hex is used.
(2) Connection to the FQM1 is not possible at 115,200 bits/s.
FQM1 (Slave) System Setup
Item
Set value
RS-232C port Mode
settings
Baud
PC Link Unit No.
Note
6-1-5
Default
Refresh timing
7 hex: PC Link (Slave)
Host Link
Every cycle
00 to 09 hex: Standard
Standard
(0A hex: High-speed cannot be used.) (38,400:1, 8, 1, 0)
0 to 7 hex
0 hex
The settings are made using CX-Programmer Ver. 5.0@ menus.
Serial Gateway
Serial Gateway
Function
Servo parameters and other data can be read and written from NS-series PTs
or personal computers (applications that operate on the CX-Server) to Servo
Drivers that are connected to the FQM1 Coordinator Module's RS-422A port.
This function can be executed by setting the FQM1 Coordinator Module’s RS422A serial communications mode to Serial Gateway.
RS-422A-compatible
Servo Drivers
OMRON W-series and OMRON SMARTSTEP Servo Drivers.
System Configuration
Example: Accessing a W-series or SMARTSTEP Servo Driver from Smart
Active Parts on a NS-series PT using an NT Link
134
Section 6-1
Serial Communications
NS-series PT
Smart Active Parts
NT Link
Coordinator Module
FQM1
Protocol
conversion
Servo parameters or
other data
RS-422A
W-series or
SMARTSTEP
Servo Driver
Note
W-series or
SMARTSTEP
Servo Driver
When the Serial Gateway function is used, the FQM1 receives FINS commands (encapsulated W-series or SMARTSTEP commands) via the RS-422A
port from NT-series PTs or personal computers and converts them to Wseries or SMARTSTEP Servo Driver commands (removes the encapsulation)
and transfers them to the W-series or SMARTSTEP Servo Drivers.
System Setup
Item
Drive Tab Page
Settings
Default
Mode
Serial Gateway or Non-procedural
(no-protocol)
Serial Gateway
RS-422 Response Timeout of Command
0.1 to 25.5 s (unit: 0.1 s)
5s
Note
Smart Active Parts
Communications Settings
Enabled
Each cycle
The settings are made using CX-Programmer Ver. 5.0@ menus.
When using NS-series Smart Active Parts for Servo Drivers with the FQM1,
set the Destination Unit No. (U) to 251 on the Smart Active Parts Communications Settings Screen. No. 251 indicates the RS-422A port for the FQM1.
135
Section 6-1
Serial Communications
6-1-6
No-protocol Communications (RS-422A Port)
FQM1
Coordinator Module
Coordinator Module ladder program
TXD/RXD
instructions
RS-232C port
RS-422A port
No-protocol
RS-232C
No-protocol
Generalpurpose
external
device
RS-422A
Servo Driver
Servo Driver
RS-422A Settings
Item
Mode
Settings
No-protocol
Default
Serial Gateway
Delay
End code
0 to 99,990 ms (unit: 10 ms)
00 to FF hex
0 ms
00 hex
Start code
Received bytes
00 to FF hex
01 to FF hex: 1 to 255 bytes
00 hex
256 bytes
Use of end code Received bytes or CR+LF
Use of start
No
code
Yes
Note
136
Enabled
Each cycle
Received bytes
No
The settings are made using CX-Programmer Ver. 5.0@ menus.
SECTION 7
Motion Control Module Functions
This section describes the various functions supported by the Motion Control Module.
7-1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2
Interrupt Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
7-2-1
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
7-2-2
Interrupt Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
7-2-3
Disabling and Enabling All Interrupts . . . . . . . . . . . . . . . . . . . . . . .
141
7-3
7-4
7-5
7-6
139
Input Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
7-3-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
7-3-2
Overview of the Input Interrupt Function. . . . . . . . . . . . . . . . . . . . .
142
7-3-3
Interrupt Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
7-3-4
Input Interrupt Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
7-3-5
Using Input Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
143
7-3-6
Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
145
Interval Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
7-4-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
7-4-2
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
7-4-3
Interval Timer Interrupt Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
7-4-4
Using Interval Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
7-4-5
Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
147
Pulse Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
7-5-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
7-5-2
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
7-5-3
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
7-5-4
Pulse Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
150
7-5-5
Latch Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
152
7-5-6
Applicable Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
152
7-5-7
Internal Circuit Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
152
7-5-8
Pulse Input Function Description . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
7-5-9
Pulse Input Function Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . .
160
7-5-10 Pulse Input Function Example Application . . . . . . . . . . . . . . . . . . .
162
Pulse Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
167
7-6-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
167
7-6-2
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
167
7-6-3
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
168
7-6-4
Pulse Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
169
7-6-5
Applicable Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
170
7-6-6
Pulse Output Function Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
171
7-6-7
One-shot Pulse Output Function. . . . . . . . . . . . . . . . . . . . . . . . . . . .
176
7-6-8
Time Measurement with the Pulse Counter . . . . . . . . . . . . . . . . . . .
178
7-6-9
Target-value Comparison Interrupts from Pulse Output PVs . . . . . .
179
137
7-7
7-8
7-9
138
7-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs . . .
182
7-6-11 Acceleration/Deceleration Rates in ACC(888)
and PLS2(887) Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
182
7-6-12 PLS2(887) Pulse Output Direction Priority Mode . . . . . . . . . . . . . .
183
7-6-13 Pulse Output Function Procedures . . . . . . . . . . . . . . . . . . . . . . . . . .
184
7-6-14 Pulse Output Function Examples . . . . . . . . . . . . . . . . . . . . . . . . . . .
189
7-6-15 Pulse Output Starting Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . .
194
Functions for Servo Drivers Compatible with Absolute Encoders . . . . . . . . .
199
7-7-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
199
7-7-2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
199
7-7-3
Data Format of Absolute Encoder Output. . . . . . . . . . . . . . . . . . . . .
200
7-7-4
Counter Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
201
7-7-5
Absolute Number of Rotations PV (Counter 1: A604 and A605) . .
202
7-7-6
Absolute Present Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
202
7-7-7
Absolute Present Value Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
203
7-7-8
Absolute Offset Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
203
7-7-9
Related Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
204
7-7-10 Overview of Absolute Encoder Output Data Acquire. . . . . . . . . . . .
207
7-7-11 Timing Chart of the Functions for Servo Drivers Compatible
with Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
209
7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)
209
Virtual Pulse Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
212
7-8-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
212
7-8-2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
212
7-8-3
AXIS Instruction (For Virtual Pulse Outputs). . . . . . . . . . . . . . . . . .
213
7-8-4
Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
215
Analog Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
215
7-9-1
Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
215
7-9-2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
215
7-9-3
Analog Input Function Specifications. . . . . . . . . . . . . . . . . . . . . . . .
217
7-9-4
Related Areas and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
218
7-9-5
Applicable Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
222
7-9-6
A/D Conversion Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
222
7-9-7
High-speed Analog Sampling (FQM1-MMA21 Only). . . . . . . . . . .
223
7-10 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
225
7-10-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
225
7-10-2 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
225
7-10-3 Analog Output Function Specifications . . . . . . . . . . . . . . . . . . . . . .
226
7-10-4 Applicable Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
228
7-10-5 Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
229
7-10-6 Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
230
Section 7-1
Overview
7-1
Overview
The FQM1 Modules have the following functions.
Main function
(Applicable Modules)
Basic interrupt functions
(FQM1-MMP21/MMA21)
Sub-functions
Input Interrupts (4 points) (Input Interrupt Mode or Counter Mode)
Interval Timer Interrupt (1 point)
Scheduled Interrupts
Setting range: 0.5 to 99,990 ms
One-shot Interrupts
Unit: 0.1 ms
Constant Cycle Time Exceeded Error Clear Function
High-speed Counters
High-speed Counter PVs (2 points)
(FQM1-MMP21/MMA21)
Phase differential, Increment/decrement, or Pulse + direction;
50 kHz or 500 kHz
No interrupts
Target Value Comparison Interrupts
(Count check interrupts)
Range Comparison and Bit Pattern Outputs
High-speed Counter Movement Measurement
Sampling time (1 to 9,999 ms) or cycle time
High-speed Counter Frequency Measurement
Measured frequency: 0 to 500 kHz (1 point)
Functions for Servo Drivers
Compatible with Absolute
Encoders
(FQM1-MMP21/MMA21)
Pulse Outputs
(FQM1-MMP21 only)
High-speed Counter Latch (2 latch inputs)
(Latched high-speed counter PV can be read with PRV(881) instruction.)
Absolute Number of Rotations PV
Absolute PV
Absolute PV Preset Function
Absolute Offset Preset Function
Pulse Outputs (2 points)
Pulse output without acceleration/deceleration, non-trapezoidal acceleration or deceleration, trapezoidal acceleration/deceleration, and electronic cam control
One-shot Pulse Output
Pulse ON time: 0.01 to 9,999 ms
Pulse Counter (for time measurement)
Measurement unit: Select 0.001 ms, 0.01 ms, 0.1 ms, or 1 ms.
Measurement range: 0000 0000 to FFFF FFFF hex
Virtual Pulse Outputs
(FQM1-MMP21/MMA21)
Analog Outputs
(FQM1-MMA21 only)
Analog Inputs
(FQM1-MMA21 only)
These three interrupt/bit pattern output No interrupts
settings can be set for the Pulse OutTarget Value Comparison Interrupts
puts, One-shot Pulse Outputs, and
(Count check interrupts)
Pulse Counter Functions listed above.
Range Comparison and Bit Pattern Outputs
The AXIS instruction generates trapezoidal acceleration/deceleration in a virtual axis.
Sloped Output by Instruction (2 points)
1 to 5 V, 0 to 5 V, 0 to 10 V, or −10 to 10 V
Immediate refreshing at instruction execution, analog output value hold function, offset/
gain adjustment supported
Immediate Refreshing by Instruction (1 point)
1 to 5 V, 0 to 5 V, 0 to 10 V, −10 to 10 V, or 4 to 20 mA
Offset/Gain Adjustment of Analog Input Value
High-speed Analog Sampling
The CTBL(882) instruction starts analog sampling when the high-speed counter 1 PV
matches the preset target value.
139
Section 7-2
Interrupt Functions
7-2
7-2-1
Interrupt Functions
Overview
The Motion Control Modules support the following interrupts.
Executing Interrupt
Programs in the
FQM1
The programming routines that are executed for all of the following interrupts
are programmed as interrupt tasks.
Input Interrupts
Inputs to the Motion Control Module’s built-in contact inputs 0 to 3 can be set
as interrupt inputs. If they are set as interrupt inputs, an interrupt will be generated when the input turns ON, OFF, or both. If they are set for Counter
Mode, an interrupt will be generated when a specified counter value is
reached.
Interval Timer Interrupts
An interrupt will be generated for an interval timer that can be set to a precision of 0.1 ms. Interval timer interrupts can also be used in the Coordinator
Module.
High-speed Counter
Interrupts
An interrupt will be generated when the PV of the counter equals a preset target value.
Pulse Output Interrupts
An interrupt will be generated when the PV of the pulse output (or the pulse
counter’s PV/measured time) equals a preset target value.
Note
7-2-2
In addition to interrupts, bit patterns can be output internally when the PV is
within a specified range in Range Comparison Mode. High-speed counter
PVs, pulse output PVs, pulse counter timer PVs, and one-shot pulse elapsed
times can be used as the PVs for bit pattern output.
Interrupt Priority
A specified interrupt task will be executed when an interrupt is generated. The
priority of interrupts is shown below.
If an additional interrupt occurs while another interrupt is already being processed, the new interrupt will be executed after the first interrupt task has
been completed.
If two or more interrupts occur simultaneously, the higher-priority interrupt will
be executed first. Interrupts have the following priority:
• Input interrupt 0 → Input interrupt 1 → Input interrupt 2 → Input interrupt 3
• Interval timer interrupt → Pulse output 1 interrupt → Pulse output 2 interrupt → High-speed counter 1 interrupt → High-speed counter 2 interrupt
An instruction controlling a port operation cannot be programmed in an interrupt task if an instruction in the main program is already controlling pulse I/O
or a high-speed counter for the same port. If this is attempted, the ER Flag will
turn ON. The following instructions are included: INI(880), PRV(881),
CTBL(882), SPED(885), PULS(886), PLS2(887), ACC(888), and STIM(980).
140
Section 7-2
Interrupt Functions
This situation can be avoided with the programming methods shown in the following diagram.
Method 2:
Executing the routine in the main program instead of
the interrupt task, where it could not be executed.
Method 1:
Disabling all interrupts
in the main program
(Main program)
MSKS
0100
0000
0000
@PLS2
0001
0000
D00010
P_On
7-2-3
CTBL
PRV
0001
0002
D00000
0001
0000
D00000
Always
ON
0002.00
@CTBL
0001
0000
D00000
MSKS
0200
0000
0000
Note
(Interrupt task)
P_ER
SET 0002.00
ER Flag
RSET 0002.00
Only one interrupt task number is recorded for pulse output and high-speed
counter interrupts. When a pulse output or high-speed counter interrupt is on
standby (because another interrupt is being executed or interrupts are disabled) and another interrupt occurs, the earlier interrupt task number is
replaced with the most recent interrupt task number. Design the system to
allow sufficient time between interrupts for the length of the interrupt tasks to
prevent unwanted conflicts between interrupts.
Disabling and Enabling All Interrupts
All interrupts can be disabled using the DI(802) instruction, as shown below.
The following interrupts are disabled and enabled by DI(802) and EI(694).
• Input interrupts
• Interval timer interrupts
• High-speed counter interrupts
• Pulse output interrupts
Observe the following precautions when using DI(802).
• DI(802) and EI(694) cannot be used within an interrupt task to disable or
enable interrupts.
• Do not use DI(802) to disable all interrupts unless there is a specific need
to do so.
Disabling All
Interrupts
The DI(802) instruction will disable all interrupts.
(@)DI
Note
Enabling All
Interrupts
Interrupt processing will not be executed for an interrupt that occurs while
interrupts are disabled, but the interrupt event will be recorded for each type of
interrupt and interrupt processing will be executed when interrupts are
enabled.
The EI(694) instruction clears the prohibition on all interrupts that was set with
the DI(802) instruction.
(@)EI
Note
Executing the EI(694) instruction merely returns the interrupts to the status
they were in before all interrupts were prohibited (disabled by DI(802)).
141
Section 7-3
Input Interrupts
The EI(694) instruction does not enable all interrupts. If an interrupt was
masked before all interrupts were disabled, that interrupt will still be masked
after the prohibition on all interrupts is cleared.
Clearing Recorded
Interrupts
7-3
7-3-1
7-3-2
The CLI(691) instruction clears the interrupt event information recorded while
all interrupts were disabled by the DI(802) instruction.
Input Interrupts
Applicable Models
Model number
FQM1-MMP21
Functions
Motion Control Module for Pulse I/O
FQM1-MMA21
Motion Control Module for Analog I/O
Overview of the Input Interrupt Function
Contact inputs 0 to 3 in the Motion Control Modules can be used for external
interrupt inputs. These inputs correspond to CIO 0000.00 to CIO 0000.03.
The interrupt tasks corresponding to these inputs are fixed and cannot be
changed. Contact inputs 0 to 3 call interrupt tasks 000 to 003, respectively.
Note
7-3-3
If the input interrupts are not being used, interrupt tasks 000 to 003 can be
used as interrupt tasks for other interrupt functions.
Interrupt Modes
There are two modes that can be used for the input interrupts. Each of the
four interrupt inputs can be set to either of these modes.
• Input Interrupt Mode:
An interrupt is generated when the external input turns ON, OFF, or both.
• Counter Mode:
External signals are counted, decrementing the PV from an SV, and an
interrupt is generated when the PV equals 0.
The interrupt mode for each interrupt input is set using the MSKS(690)
instruction.
7-3-4
Input Interrupt Specifications
Input Interrupt Mode
Item
Interrupt condition
Interrupt task numbers
Response time
Signal pulse width
142
Specification
Contact inputs 0 to 3 (CIO 0000.00 to CIO 0000.03) turn ON,
OFF, or both
Note Set the interrupt condition in the System Setup.
CIO 0000.00 to CIO 0000.03: Interrupt tasks 000 to 003
0.1 ms for ON interrupt condition
The response time is measured from when interrupt condition
is met until interrupt task execution starts.
ON: 0.1 ms min., OFF: 0.2 ms min.
Section 7-3
Input Interrupts
Counter Mode
Item
Interrupt condition
Specification
Counter decremented from SV each time input contacts 0 to 3
(CIO 0000.00 to CIO 0000.03) turn ON, OFF, or both and PV
reaches 0.
Note Set the interrupt condition in the System Setup.
7-3-5
Interrupt task numbers
CIO 0000.00 to CIO 0000.03: Interrupt tasks 000 to 003
(fixed)
Counter operation
Input method
Decrementing pulse input
Single phase
Counting speed
Counter value
2 kHz
0000 to FFFF hex
Counter PV storage
Input interrupts 0 to 3 (CIO 0000.00 to CIO 0000.03):
A524 to A527
Counter SV storage
Input interrupts 0 to 3 (CIO 0000.00 to CIO 0000.03):
A520 to A523
Using Input Interrupts
Input Interrupt Mode Procedure
1,2,3...
1. Determine which input interrupt number will be used.
2. Wire the input.
Input
External interrupt input 0
Allocated input bit
CIO 0000.00
Interrupt task number
000
External interrupt input 1
External interrupt input 2
CIO 0000.01
CIO 0000.02
001
002
External interrupt input 3
CIO 0000.03
003
3. Make the necessary System Setup settings.
• Set the Interrupt Input Settings (set whether an interrupt will be generated
when the input turns ON, OFF, or both).
Note
The default input setting is for a normal input.
4. Create the necessary ladder programming.
• Use the MSKS(690) instruction (SET INTERRUPT MASK) to enable the
input as an interrupt input.
• Create the interrupt task program.
Interrupt 0
input
1
CIO 0000.00
2
CIO 0000.02
3
CIO 0000.03
Interrupt input 0
Interrupt generated.
CIO 0000.01
Ladder program
Execute specified task.
MSKS
Interrupt control
Enable interrupt inputs
Interrupt input 1
END
Interrupt input 2
Interrupt input 3
System Setup
Interrupt input
settings
143
Section 7-3
Input Interrupts
Counter Mode Procedure
1,2,3...
1. Determine which input interrupt number will be used.
2. Determine the initial SV for the decrementing counter.
3. Wire the input.
Input
External interrupt input 0
Allocated input bit
CIO 0000.00
Interrupt task number
000
External interrupt input 1
External interrupt input 2
CIO 0000.01
CIO 0000.02
001
002
External interrupt input 3
CIO 0000.03
003
4. Make the necessary System Setup settings.
• Set the Interrupt Input Settings (set whether an interrupt will be generated
when the input turns ON, OFF, or both).
Note
The default input setting is for a normal input.
5. Create the necessary ladder programming.
• Use the MSKS(690) instruction (SET INTERRUPT MASK) to refresh the
counter’s SV in counter mode.
• Create the interrupt task program.
Interrupt 0
input
1
CIO 0000.00
2
CIO 0000.02
3
CIO 0000.03
Counter 0, 1 kHz
Interrupt input (counter mode)
See note.
Ladder program
MSKS
Counter 1, 1 kHz
Counter 2, 1 kHz
Counter 3, 1 kHz
Execute specified task.
Interrupt control
Refresh PV
(Decrementing)
Change SV (Decrementing)
Counter SV
Counter 0 A520
Counter 1 A521
Counter 2 A522
Counter 3 A523
(Auxiliary Area)
System Setup
Interrupt input
settings
144
Interrupt generated.
CIO 0000.01
Refresh PV (once each cycle)
Counter PV
Counter 0 A524
Counter 1 A525
Counter 2 A526
Counter 3 A527
(Auxiliary Area)
END
Note: Interrupt used only when
the counter counts out.
Section 7-3
Input Interrupts
7-3-6
Application Example
This example shows input interrupt 0 and input interrupt 1 used in interrupt
input mode and counter mode, respectively.
Before executing the program, verify that the following System Setup settings
have been made: input 0 and input 1 both set to Interruption (up). The other
System Setup settings are set to their default settings.
P_First_Cycle
MOV
#000A
A521
(ON for the first cycle)
0002.00
@CLI
#0000
#0001
The SV of input interrupt 1 counter
mode operation is set to 10 in 4-digit
hexadecimal (000A).
When CIO 0002.00 is ON, the
following instructions are executed.
(1) Clears any masked interrupts
for input interrupts 0 and 1.
@CLI
#0001
#0001
@MSKS
#0000
#0000
@MSKS
#0001
#0002
0002.00
@MSKS
#0000
#0001
(2) Enables interrupts by input
interrupt 0 in Input interrupt
mode.
(3) Enables interrupts by input
interrupt 1 in counter mode.
(The counter SV is 10 decimal.)
When CIO 0002.00 is OFF, MSKS(690)
masks input interrupts 0 and 1 and
disables those interrupts.
@MSKS
#0001
#0001
P_On (Always ON)
CLC
ADB
A521
#000A
A521
Interrupt
task 0
Interrupt task 000 is called when
there is an interrupt from input
interrupt 0, 10 is added to the
counter SV for input interrupt 1 (the
SV increases to 20), and the
counter is refreshed.
MSKS
#0001
#0002
END
Interrupt
task 1
END
When input interrupt 1 counts down
to 0, interrupt task 001 is called and
executed.
145
Section 7-4
Interval Timer Interrupts
The following timing chart shows the operation of the program as it is executed.
CIO 0000.00
Interrupt task 000
10 counts
CIO 0000.01
10 counts
(See note 1.)
20 counts
(See note 1.)
Interrupt task 001
(See note 2.)
CIO 0002.00
Note
(1) Counting continues even while the interrupt task is being executed.
(2) The input interrupts are masked after this point.
7-4
7-4-1
Interval Timer Interrupts
Applicable Models
Model number
7-4-2
Functions
FQM1-CM001
FQM1-MMP21
Coordinator Module
Motion Control Module for Pulse I/O
FQM1-MMA21
Motion Control Module for Analog I/O
Overview
Interval timers can be used to perform high-speed, high-precision timer interrupt processing. The Motion Control Modules and Coordinator Module are
equipped with one interval timer each.
7-4-3
Interval Timer Interrupt Modes
There are two modes for interval timer operation.
• One-shot Mode
In one-shot mode, the interrupt is executed just once when the timer times
out.
• Scheduled Interrupt Mode
In scheduled interrupt mode, the timer is reset to the SV each time it times
out so the interrupt is repeated regularly at a fixed interval.
7-4-4
Using Interval Timer Interrupts
1,2,3...
1. Interrupt Mode
• Determine whether the timer will operate in one-shot mode or scheduled
interrupt mode.
2. Ladder Programming
• Use the STIM(980) instruction to set the timer SV and start the timer in
one-shot or scheduled interrupt mode.
• Create the interrupt task program.
146
Section 7-4
Interval Timer Interrupts
Interval timer
Generate interrupt.
Execute interrupt task.
Ladder Program
STIM
INTERVAL TIMER
• Start timer.
One-shot mode
Scheduled interrupt mode
• Read elapsed time.
7-4-5
END
Application Example
In this example, the interval timer is used to generate an interrupt every
2.4 ms (0.6 ms × 4). The default System Setup settings are used. (Inputs are
not refreshed for interrupt processing.)
First Cycle Flag
(ON for 1 cycle)
Interval timer set values:
MOV
#0004
D00010
Sets 4 for the decrementing counter
set value.
#0006
D00011
Sets 0.6 ms for the decrementing
time interval.
MOV
0002.00
0002.00
@STIM
#0003
D00010
#0023
@STIM
#000A
0000
0000
The interval timer starts when
CIO 0002.00 turns ON.
Task 23 hex = 35 BCD
The interval timer stops when
CIO 0002.00 turns OFF.
END
Interrupt
task 35
Interrupt task program
Every 2.4 ms the interval timer
times out and the interrupt task is
executed.
END
When the program is being executed, the interrupt task will be executed every
2.4 ms while CIO 0002.00 is ON, as shown in the following diagram.
CIO 0002.00
2.4 ms
2.4 ms
2.4 ms
Interrupt task
147
Section 7-5
Pulse Inputs
7-5
7-5-1
7-5-2
Pulse Inputs
Applicable Models
Model
FQM1-MMP21
Functions
Motion Control Module for Pulse I/O
FQM1-MMA21
Motion Control Module for Analog I/O
Outline
The FQM1-MMP21 and FQM1-MMA21 Motion Control Modules can receive
pulse inputs. The following table shows the processes that can be performed
by combining the pulse input function with the high-speed counters to count
pulse signals from a rotary encoder or other device and perform processing
based on the counter PV.
Process
Note
Description
Target value comparison
interrupts
An interrupt task is executed when the high-speed
counter PV equals a preset target value.
Bit pattern outputs for
range comparisons
When the high-speed counter PV is within a specified
range, the user-set bit pattern specified in the comparison table is output internally.
Measurement
modes 1 and 2
Movement in the high-speed counter or input pulse
counting speed can be displayed while monitoring the
high-speed counter PV.
High-speed counter PV
latch
High-speed counters 1 and 2 each have a latch register.
Two latch inputs can be used to capture the high-speed
counter PVs at high speed.
Interrupts cannot be generated for range comparisons. Only bit patterns are
output.
The high-speed counter PV movement during a fixed time interval (equivalent
to the travel distance) and the high-speed counter’s frequency can also be
monitored as required.
7-5-3
Specifications
Item
Specification
Number of counters
Pulse input operation mode
(Set in System Setup.)
Input pin High-speed
High-speed
numbers counter 1
counter 2
Increment/decrement
Pulse + direction
24 V: 1 (5)
LD: 3 (5)
24 V: 2 (6)
LD: 4 (6)
Phase A
Increment pulse
Pulse
24 V: 7 (11)
LD: 9 (11)
24 V: 8 (12)
LD: 10 (12)
Phase B
Decrement pulse
Direction pulse
24 V: 14 (18)
LD: 16 (18)
Phase Z
Reset pulse
Reset pulse
24 V: 13 (17)
LD: 15 (17)
Input method
Counting speed (Set separately for each
port in the System Setup.)
Counter operation
148
2
Phase differential
Phase differential ×1,
Single-phase ×2
Single-phase + direc×2, or ×4 (switchable)
tion
Set in the System Setup.
(Set input for pulse input counter 1 and counter 2.)
50 kHz (default) or 500 kHz (2 MHz when using phase differential ×4)
Linear Counter or Circular Counter (Set in the System Setup.)
Section 7-5
Pulse Inputs
Item
Counter values
High-speed counter PV storage locations
Specification
Linear Counter: 8000 0000 to 7FFF FFFF hex
Circular Counter: 0000 0000 to Circular maximum count (hex)
(The circular maximum count is set in the System Setup between 0000
0001 and FFFF FFFF hex.)
High-speed counter 1: A601 (upper bytes) and A600 (lower bytes)
High-speed counter 2: A603 (upper bytes) and A602 (lower bytes)
These values can be used for target-value comparison interrupts or
range-comparison bit pattern outputs.
Note The PVs are refreshed during the Motion Control Module’s I/O
refresh. The PVs can also be read with the PRV(881) instruction.
Data storage format: 8-digit hexadecimal
• Linear Counter: 8000 0000 to 7FFF FFFF hex
• Circular Counter: 0000 0000 to Circular maximum count
Latch inputs
Control
method
Target value comparison
Range comparison
Counter reset
There are two latch inputs. One latch input can be for each high-speed
counter or both latch inputs can be used for one high-speed counter. It is
also possible for both high-speed counters to share one latch input.
The latched PV can be read with the PRV(881) instruction.
Register up to 48 target values and interrupt tasks.
Register up to 16 upper limits, lower limits, and output bit patterns.
Phase Z Signal + Software Reset
The counter is reset on the phase-Z signal if the Reset Bit is ON.
Software Reset
The counter is reset when the Reset Bit is turned ON.
Note The counter reset method is set in System Setup.
Reset Bits
A610.01 is the Reset Bit for high-speed counter 1 and A611.01 is the Reset
Bit for high-speed counter 2.
Measurement
mode
Counter movements
(mode 1)
Counter frequency
(mode 2)
Measurement storage location
for above measurements
Measures the change in the high-speed counter’s PV for the set sampling
time or each cycle.
Sampling time: 1 to 9,999 ms
Movement (absolute value): 0000 0000 to FFFF FFFF hex
The frequency is calculated from the PV between 0 and 500,000 Hz.
High-speed counter 1: A605 (upper bytes) and A604 (lower bytes)
High-speed counter 2: A607 (upper bytes) and A606 (lower bytes)
Note The high-speed counter value can also be read with the PRV(881)
instruction.
Stored Data
Movement: 8-digit hexadecimal
Frequency: 8-digit hexadecimal
Note The data is refreshed during the Motion Control Module’s I/O refresh
period.
• Select mode 1 or mode 2 in the System Setup.
• Measurement starts when the Measurement Start Bit (A610.02 for high-speed counter 1 or A611.02 for
high-speed counter 2) is turned ON.
• The Measuring Flag (A608.06 for high-speed counter 1 or A609.06 for high-speed counter 2) will be ON during the measurement.
149
Section 7-5
Pulse Inputs
7-5-4
Pulse Input Specifications
Item
Specification
Number of
pulse inputs
2 inputs
Signals
Ports
Encoder inputs A and B and pulse input Z
High-speed counters 1 and 2
Note High-speed counter 1 can be an RS-422A line-driver input or an input with a voltage of 24 VDC.
High-speed counter 2 can be an RS-422A line-driver input or an input with a voltage of 24 VDC,
except for the FQM1-MMA21, which supports only line-driver inputs to high-speed counter 2.
High-speed counters 1 and 2
Input voltage 24 VDC ±10%
Phases A and B
Phase Z
RS-422A line-driver (AM26LS31 equivalent)
Phases A and B
Phase Z
Input current 5 mA typical
ON voltage 19.6 V DC min.
8 mA typical
18.6 V DC min.
10 mA typical
---
13 mA typical
---
OFF voltage 4.0 V DC max.
4.0 V DC max.
---
---
150
Section 7-5
Pulse Inputs
Item
Minimum response pulse
At 50 kHz
Specification
Encoder Inputs A and B
Waveform of Encoder Inputs A and B
Signal rise and fall must be 3 µs max.
50-kHz pulse with 50% duty ratio
20 µs min.
10 µs min.
10 µs min.
ON
Encoder Inputs A and B
Encoder Inputs A and B Waveform
Square waveform
50-kHz pulse with 50% duty ratio
20 µs min.
10 µs min.
10 µs min.
ON
50%
OFF
50%
OFF
3 µs max.
3 µs max.
Relationship to Phase Differential Inputs A and B
T1, T2, T3,and T4 must be 4.5 µs min.
There must be 4.5 µs min. between phase-A and
phase-B change points.
Relationship to Phase Differential Inputs A and B
T1, T2, T3,and T4 must be 4.5 µs min.
There must be 4.5 µs min. between phase-A and
phase-B change points.
20 µs min.
ON
Phase A
20 µs min.
50%
OFF
ON
Phase A 50%
OFF
ON
Phase B
OFF
ON
T1
Phase B
T2
T3
T4
OFF
T1
T2
T3
Encoder Input Z or Sensor Input
T4
Encoder Input Z or Sensor Input
Encoder Input Z Waveform
The pulse width must be 90 µs min.
90 µs min.
ON
Encoder Input Z Waveform
The pulse width must be 90 µs min.
90 µs min.
ON
50%
OFF
50%
OFF
At 500 kHz Operation may not be reliable above 50 kHz.
Encoder Inputs A and B
Encoder Inputs A and B Waveform
Square waveform
1-MHz pulse with 50% duty ratio
1 µs min.
0.5 µs min.
0.5 µs min.
ON
50%
OFF
Relationship with Phase Differential Inputs A and B
T1, T2, T3,and T4 must be 0.5 µs min.
There must be 0.5 µs min. between phase-A and
phase-B change points.
2 µs min.
ON
50%
OFF
ON
OFF
T1
T2
T3
T4
Encoder Input Z or Sensor Input
Encoder Input Z Waveform
The pulse width must be 10 µs min.
10 µs min.
ON
50%
OFF
151
Section 7-5
Pulse Inputs
7-5-5
Latch Input Specifications
Item
7-5-6
Specification
Number of inputs
Input voltage
2
20.4 to 26.4 V
Input response
ON response: 30 µs
OFF response: 200 µs
Applicable Instructions
Instruction
(@)CTBL(882)
Control
Range comparison
Description
One range comparison executed.
Target value comparison table regis- Target value comparison table registered and comparison
tration and starting comparison
started.
Target value comparison table regis- Target value comparison table registered.
tration
(@)INI(880)
(@)PRV(881)
7-5-7
Starting comparison
Stopping comparison
Comparison started with previously registered target value comparison table.
Target value comparison stopped.
Changing PV
PV of high-speed counter changed.
Changing circular value
Reading high-speed counter PV
Maximum circular value of high-speed counter changed.
PV of high-speed counter read.
Reading high-speed counter movement or frequency
Reading the latched high-speed
counter PV
Movement or frequency of high-speed counter read.
Latched PV of high-speed counter read. (Reads the PV input to
the latch register when the latch signal was input.)
Internal Circuit Configurations
Pulse Inputs
Phases A and B
4.4 kΩ
1
+
2
Phase A and B
internal circuits
−
1 24-V input
2 Line-driver input
Phase Z
3.0 kΩ
1
+
2
Phase Z
internal circuit
−
1 24-V input
2 Line-driver input
152
Section 7-5
Pulse Inputs
7-5-8
Pulse Input Function Description
The pulse input function uses the high-speed counters. The pulse input function can be used to monitor changes (movement) in the high-speed counter
PV (mode 1) or changes in the high-speed counter frequency (mode 2).
High-speed Counter Function Description
Input Signal Type and
Count Mode
High-speed counters 1 and 2 support the following inputs. The input method
application depends on the signal type.
Phase Differential Inputs
This method uses the phase Z signal and the two phase signals (phase A and
phase B) for a ×1, ×2, or ×4 phase differential. The count is incremented or
decremented according to the offset between the two phase signals.
Increment/Decrement Pulse Inputs
The phase-A signal is the UP pulse and the phase-B signal is the DOWN
pulse. The count is incremented or decremented by these pulses.
Pulse + Direction Inputs
The phase-A signal is the pulse signal and the phase-B signal is the direction
signal. The count is incremented or decremented based on the ON/OFF status of the phase-B signal.
■ Phase Differential Input Operation
Phase A
Phase B
×1 multiplier
0
×2 multiplier
0
×4 multiplier
0
1
1
2
2
3
3
4
5
6
2
5
4
1
3
2
1 2 3 4 5 6 7 8 9 1011 12 1110 9 8 7 6 5 4 3 2
Phase A Phase B
×1 multiplier
↑
L
Increment
1
1
2
2
3
4
2 3 4 5 6 7 8
×2 multiplier
Increment
×4 multiplier
Increment
H
↓
↑
H
-----
--Increment
Increment
Increment
L
L
↓
↑
-----
-----
Increment
Decrement
↑
H
H
↓
-----
Decrement
---
Decrement
Decrement
↓
L
Decrement
Decrement
Decrement
153
Section 7-5
Pulse Inputs
Increment/Decrement Pulse Inputs
Pulse + Direction Inputs
Encoder
Input A
(UP input)
Encoder
Input A
(Pulse input)
Encoder
Input B
(DOWN input)
Encoder
Input B
(Direction input)
2
1
3
2
1
Decrement
Increment
Counter Operation
(Numeric Ranges)
1
2
Increment
3
2
1
Decrement
The following two counter operations are available for high-speed counters 1
and 2, with the specified counting ranges.
Circular Counter
With a Circular Counter, the circular maximum count can be set in the System
Setup, and when the count is incremented beyond this maximum value, it
returns to zero. The count never becomes negative. Similarly, if the count is
decremented from 0, it returns to the maximum value.
The number of points on the circular is determined by setting the maximum
value (i.e., the circular maximum value), which can be set between 1 and
FFFF FFFF hex.
Linear Counter
With a Linear Counter, the count range is always 8000 0000 to 7FFF FFFF
hex. If the count decrements below 8000 0000 hex, an underflow is generated, and if it increments above 7FFF FFFF hex, an overflow is generated.
Linear Counter
Circular Counter
Circular maximum value
0
80000000 hex
0
7FFFFFFF hex
Increment
Decrement
Underflow
Overflow
If an overflow occurs, the PV of the count will remain at 7FFF FFFF hex, and if
an underflow occurs, it will remain at 8000 0000 hex. In either case, counting
will stop and the PV Overflow/Underflow Flag shown below will turn ON to
indicate the underflow or overflow.
• High-speed counter 1: A608.01
• High-speed counter 2: A609.01
Note
The high-speed counter PVs are refreshed during the Motion Control Module’s I/O refresh.
When restarting the counting operation, toggle (turn OFF and then ON) the
corresponding counter’s Reset Bit. (A610.01 is the Reset Bit for high-speed
counter 1 and A611.01 is the Reset Bit for high-speed counter 2.)
Reset Methods
The following two methods can be set to determine the timing at which the PV
of the counter is reset (i.e., set to 0):
• Phase-Z signal and software reset
• Software reset
154
Section 7-5
Pulse Inputs
■ Phase-Z Signal (Reset Input) and Software Reset
The PV of the high-speed counter is reset on the first rising edge of the
phase-Z signal after the corresponding High-speed Counter Reset Bit (see
below) turns ON.
1 or more cycles
Phase-Z
(reset input)
Reset Bit for
High-speed
Counter 1 or 2
1 or more cycles
Within 1 cycle
Reset
Reset by cycle.
Not reset.
■ Software Reset
The PV is reset when the High-speed Counter Reset Bit turns ON. There are
separate Reset Bits for high-speed counters 1 and 2.
1 or more cycles
Reset Bit for
High-speed
Counter 1 or 2
Within 1 cycle
Reset by cycle.
The High-speed Counter Reset Bits are as follows:
• High-speed Counter 1 Reset Bit: A610.01
• High-speed Counter 2 Reset Bit: A611.01
The High-speed Counter Reset Bits are refreshed only once each cycle, so a
Reset Bit must be ON for a minimum of 1 cycle to be read reliably.
Note
Checking for High-speed
Counter Interrupts
The comparison table registration and comparison execution status will not be
changed even if the PV is reset. If a comparison was being executed before
the reset, it will continue.
The following two methods are available to check the PV of high-speed
counters 1 or 2.
• Target-value comparison method
• Range comparison method
■ Target-value Comparison Method
Up to 48 target values and corresponding interrupt task numbers can be registered in the comparison table. When the counter PV matches one of the 48
registered target values, the specified interrupt task will be executed.
Comparisons are made to each target value in the order that they appear in
the comparison table until all values have been met, and then comparison will
return to the first value in the table.
155
Section 7-5
Pulse Inputs
Counter PV
: Interrupt
Comparison table
Target value 3
Target value 1
Target value 2
Target value 2
Target value 4
Target value 3
Target value 4
Target value 1
Target value 5
Target value 5
0
Elapsed time
(seconds)
Target values
for comparison 1
2
3
4
5
1
■ Range Comparison Method
Up to 16 comparison ranges (lower and upper limit values) and corresponding
output bit patterns can be registered in the comparison table. When the PV of
the counter first is within the upper and lower limits of one of the ranges for
CTBL(882) execution, the corresponding bit pattern (1 to 16) will be output to
A613 or A615.
Counter PV
Comparison table
Comparison range 4
Range 1
Range 2
Comparison range 3
Comparison range 1
Range
3
Range
4
Comparison range 2
0
Elapsed time
(seconds)
The PV is compared to all comparison ranges
at each instruction execution.
Comparison
High-speed counter PV
Bit pattern output when
PV is within range.
15
Range (1)
Bit pattern (1)
Range (2)
Bit pattern (2)
Range (16)
Bit pattern (16)
0
0
15
A613 or A615
Internal bit pattern
156
Section 7-5
Pulse Inputs
Monitoring High-speed
Counter Movement
(Mode 1)
This function monitors the change in a high-speed counter’s PV (travel distance) regularly at the preset sampling period. The sampling period can be
set between 1 and 9,999 ms.
If the sampling time is set to 0, the change will be sampled once each cycle.
The change in the high-speed counter PV (travel distance) is stored in A604
and A605 (high-speed counter 1) or A606 and A607 (high-speed counter 2).
Status Flags A608.06 and A609.06 can be checked to determine whether or
not change is being measured.
Note
(1) The change (per sampling period) is refreshed during the Motion Control
Module’s I/O refreshing.
(2) The change in the high-speed counter PV’s is output as an absolute value.
Word
Bits
A604 and 00 to 15
A605
A606 and 00 to 15
A607
A608
06
A609
06
Function
Details
High-speed Counter 1 Contains the change in high-speed
Monitor Data
counter 1.
The change in the high-speed
counter PV during the specified sampling period is stored in 8-digit hexadecimal (0000 0000 to FFFF FFFF).
High-speed Counter 2 Contains the change in high-speed
Monitor Data
counter 2.
The change in the high-speed
counter PV during the specified sampling period is stored in 8-digit hexadecimal (0000 0000 to FFFF FFFF).
High-speed Counter 1 Measuring Flag
Status Flag
OFF: The high-speed counter movement measurement operation
is stopped.
ON: The high-speed counter movement is being measured.
High-speed Counter 2 Measuring Flag
Status Flag
OFF: The high-speed counter movement measurement operation
is stopped.
ON: The high-speed counter movement is being measured.
The pulse input’s counter data display must be set to counter movements
(mode 1) in the System Setup in advance. The sampling period must also be
set in the System Setup.
Tab page
Pulse input
Counter 1
Counter 2
Function
Counter data
display
Sampling time
(mode 1)
Counter data
display
Sampling time
(mode 1)
Details
1 hex:
Counter movements (mode 1)
Set the sampling time when measuring counter movement.
0000: Cycle time
0001 to 270F hex: 1 to 9999 ms
(unit: 1 ms)
1 hex:
Counter movements (mode 1)
Set the sampling time when measuring counter movement.
0000: Cycle time
0001 to 270F hex: 1 to 9999 ms
(unit: 1 ms)
157
Section 7-5
Pulse Inputs
High-speed Counter Movement (Mode 1) Specifications
Item
Applicable pulse
input
Displayable movement
Sampling time
Specifications
Either pulse 1 (high-speed counter 1) or pulse 2 (high-speed
counter 2) can be used.
0000 0000 to FFFF FFFF
Note The software can generate the range of values shown
above, but some hardware may not be able to display
the full range due to input limitations.
Can be set to the cycle time or a fixed time between 1 and
9,999 ms.
Operating conditions In the System Setup, set the pulse input’s counter data display
to counter movements (mode 1) and specify the sampling
time.
Note
(1) When using mode 1 with a circular counter, set the maximum circular value to 10 or higher.
(2) In mode 1, the Motion Control Module outputs the change as the difference in the count measured each sampling period. The output change
varies, so determine how to manage the output value in the user program
when the counter is reset or the INI(880) instruction is executed to
change the PV during sampling.
Monitoring a High-speed
Counter’s Frequency
(Mode 2)
Note
Mode 2 is supported by high-speed counter 1 only.
This function monitors the input pulse’s frequency from the high-speed
counter movement value. The frequency is stored in A604 and A605. Status
Flag A608.06 can be checked to determine whether or not the frequency is
being measured.
(1) The frequency value stored in the Auxiliary Area is refreshed during the
Motion Control Module’s I/O refreshing.
(2) The frequency measurement can be performed only with high-speed
counter 1. The frequency cannot be measured with high-speed counter 2.
(3) When measurement is started, the measurement direction (A610.03)
must be specified to match the direction of the input pulses being measured.
Word
Bits
Function
Details
A604 and 00 to 15
A605
High-speed Counter 1 Contains the frequency measureMonitor Data
ment.
The frequency calculated from the
high-speed counter PV is stored in
8-digit hexadecimal (0000 0000 to
0007 A120 hex = 0 to 500 kHz).
A608
High-speed Counter 1 Measuring Flag
Status Flag
OFF: The high-speed counter frequency measurement operation is stopped.
ON: The high-speed counter frequency is being measured.
06
The pulse input’s counter data display must be set to frequency measurement
(mode 2) in the System Setup in advance.
System Setup
Function
Pulse Input Tab
Specifies the counter 1 meaPage
surement mode.
Counter data display
158
Details
2 hex: Frequency (mode 2)
Section 7-5
Pulse Inputs
Frequency Measurement (Mode 2) Specifications
Item
Specifications
Applicable pulse
Only pulse 1 (high-speed counter 1) can be used.
input
Measurable frequen- 0 to 500 kHz
cies
Note When no pulses have been input for 10 s, the measured
value is set to 0 Hz (stopped). The previous output
value is retained during this 10-second interval.
Measurement period 5 ms max. (input frequency 500 Hz min.)
Note At input frequencies below 500 Hz, the measurement
period is increased to accommodate the lower input frequencies and becomes 200 ms max. for input frequencies of 10 Hz min.
Operating conditions In the System Setup, set the pulse input’s counter data display
to frequency measurement (mode 2).
Latching a High-speed
Counter’s PV
The present counter value can be latched at the rising edge of the latch signal
input and stored as the latch register value. Each time the counter value is
captured, the latch register value is overwritten with the new value and the old
value is lost.
To use the latched counter value (latch register value) in the ladder program,
read the latch register value with the PRV(881) instruction.
Word
A608
08
Bit
A609
08
A610
08
09
A611
08
09
Function
Details
High-speed Counter 1 Count Latched Flag
Status Flag
Indicates that a high-speed counter
PV has been captured in the latch
register by the latch signal input.
High-speed Counter 2 Count Latched Flag
Status Flag
(This flag has the same function as
the flag for high-speed counter 1.)
High-speed Counter 1 Latch Input 1 Enable
Command
OFF: Disabled
ON: Enabled
Latch Input 2 Enable
OFF: Disabled
ON: Enabled
High-speed Counter 2 Latch Input 1 Enable
Command
OFF: Disabled
ON: Enabled
Latch Input 2 Enable
OFF: Disabled
ON: Enabled
There is one latch register provided for each counter.
Both latch input 1 and latch input 2 can be enabled for a single counter, but
only latch input 1 will be effective when both inputs are enabled.
Two latch inputs can be used for a single counter by enabling/disabling latch
input 1 and 2 from the ladder program to enable only the desired input when it
is required. In this case, allow at least one Motion Control Module cycle
between the use of the two inputs.
159
Section 7-5
Pulse Inputs
7-5-9
Pulse Input Function Procedures
High-speed Counter Procedure
1,2,3...
1. Determine the Input Mode, reset method, and Numeric Range.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direction
• Reset method: Phase Z and software reset, or Software reset
• Counter Operation: Circular Counter or Linear Counter
2. Wire the input.
3. Make the necessary System Setup settings.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direction
• Reset: Phase Z and software reset, or Software reset
• Counter Operation: Circular Counter or Linear Counter
• Count Check Method: Target-value Comparison or Range Comparison
4. If the count check is being used, determine the count check (comparison)
method.
5. Create the necessary ladder programming.
• Turn ON the High-speed Counter 1 or 2 Start Bit (A610.00 or A611.00)
and start the high-speed counter.
• CTBL(882) instruction: Specifies the port, registers the comparison table,
and starts comparison.
• INI(880) instruction: Specifies the port, changes the PV, and starts comparison.
• PRV(881) instruction: Specifies the port and reads the high-speed
counter PV.
160
Section 7-5
Pulse Inputs
A
Pulse input 1
B
Input Mode
Reset Method
Z
Phase differential
Pulse + Direction
Increment/Decrement
Phase-Z /software reset
Software reset
A
Pulse input 2
Counter Start Bit
Counting Speed
Counter Operation
Circular Counter
Linear Counter
Count
A
Turn ON A610.00 or
A611.00.
50 kHz
500 kHz
B
Z
System Setup
System Setup
System Setup
Reset
Counter Operation
Counting Speed
System Setup
Input
Refresh PV (once each cycle).
Port 1
Port 2
Refresh PV (immediate refresh).
Counter PV
A601
A600
A603
A602
(Auxiliary Area)
PRV
HIGH-SPEED
COUNTER PV READ
Read PV.
Target-value comparison interrupt
A
Interrupt generated.
Ladder Program
CTBL
COMPARISON TABLE LOAD
See note.
Specified Interrupt Task
Register table only.
Register table and
start comparison.
INI
MODE CONTROL
END
Note: Only when using high-speed
counter interrupts.
Change PV.
Start/Stop comparison.
Range Comparison, Bit Pattern Output
A
Check count
(compare).
Range comparison is performed only when
the instruction is executed.
Ladder Program
Pattern storage
CTBL
COMPARISON TABLE LOAD
15
0
A613 or A615
Perform comparison.
Mode 1 Procedure
1,2,3...
1. Determine the Counting Speed, Input Mode, Reset Method, and Counter
Operation.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direction
• Reset method: Phase Z and software reset, or Software reset
• Counter Operation: Circular Counter or Linear Counter
2. Wire the input.
3. Make the necessary System Setup settings.
• Counter Data Display: Counter movements (mode 1)
4. Create the necessary ladder programming.
• Turn ON the High-speed Counter 1 or 2 Start Bit (A610.00 or A611.00)
and start the high-speed counter.
• Turn ON the Measurement Start Bit (A610.02 or A611.02).
161
Section 7-5
Pulse Inputs
• Monitor the high-speed counter movement value in A604 and A605
(high-speed counter 1) or A606 and A607 (high-speed counter 2).
Procedure
1,2,3...
1. Set Counter movements (mode 1) in the System Settings (Pulse Input,
Counter data display).
2. Turn ON the Measurement Start Bit (A610.02 or A611.02).
3. Monitor the high-speed counter movement value in A604 and A605
(high-speed counter 1) or A606 and A607 (high-speed counter 2).
Mode 2 Procedure
1,2,3...
1. Determine the Counting Speed, Input Mode, Reset Method, and Counter
Operation.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direction
• Reset method: Phase Z and software reset, or Software reset
• Counter Operation: Circular Counter or Linear Counter
2. Wire the input.
3. Make the necessary System Setup settings.
• Counter Data Display: Frequency measurement (mode 2)
4. Create the necessary ladder programming.
• Turn ON the High-speed Counter 1 Start Bit (A610.00) and start the
high-speed counter.
• Specify the rotation direction in the Measurement Direction Bit (A610.03).
OFF is forward, ON is reverse.
• Turn ON the Measurement Start Bit (A610.02).
• Monitor the high-speed counter’s frequency in A604 and A605.
Procedure
1,2,3...
1. Set Frequency measurement (mode 2) in the System Settings (Pulse Input, Counter data display).
2. Specify the rotation direction in the Measurement Direction Bit (A610.03).
3. Turn ON the Measurement Start Bit (A610.02).
4. Monitor the high-speed counter’s frequency in A604 and A605.
7-5-10 Pulse Input Function Example Application
Example 1:
High-speed Counter
Target Value
Comparison Interrupt
In this example, pulse input 1 operates a high-speed counter, the high-speed
counter PV is compared in a target-value comparison, and corresponding
interrupt tasks are executed when the target values are reached.
The Reset Bit is kept ON in the program and the PV of the counter is reset
when the phase-Z signal is turned ON after the PV reaches its maximum
value. Before running the program, make the following settings in the System
Setup and restart the FQM1 to enable the new settings.
Counter 1:
Linear Counter, Counting speed = 50 kHz, Phase Z and software reset,
and Increment/decrement pulse input
162
Section 7-5
Pulse Inputs
Example
When the PV reaches 2,500 hex, interrupt task 10 is started.
When the PV reaches 7,500 hex, interrupt task 11 is started.
When the PV reaches 10,000 hex, interrupt task 12 is started.
High-speed
Counter PV
PV reset on
phase-Z signal
PV reset on
phase-Z signal
Target value 3 10000
Target value 2 7500
Target value 1 2500
Time
Interrupt tasks
Task 10
starts
Task 11 Task 12
starts
starts
Task 10
starts
Task 11 Task 12
starts
starts
163
Section 7-5
Pulse Inputs
P_On
A610.00
Starts high-speed counter 1.
(Always ON)
Start high-speed
counter.
A610.01
Turns ON the High-speed Counter 1 Reset Bit.
Reset Bit
0002.00
@CTBL
#0001
#0000
D00000
Registers a target value comparison table for the PV
from high-speed counter 1 and starts the comparison.
(In this case, the comparison table begins at D00000.)
D00000
D00001
D00002
D00003
D00004
D00005
D00006
D00007
D00008
D00009
0003
2500
0000
000A
7500
0000
000B
0000
0001
000C
3 comparison conditions
Target value 1 = 2,500
Interrupt task 10
Target value 2 = 7,500
Interrupt task 11
Target value 3 = 10,000
Interrupt task 12
END
Control program 1
Interrupt task 10
END
Control program 2
Interrupt task 11
END
Control program 3
Interrupt task 12
END
Example 2:
High-speed Counter
Range Comparison &
Bit Pattern Output
In this example, pulse input 1 operates a high-speed counter, the high-speed
counter PV is compared in a range comparison, and corresponding bit pattern
is output internally when the PV is within a specified range. The internal bit
pattern value is output by a transfer to CIO 0001.
The Reset Bit is kept ON in the program and the counter PV is reset when the
phase-Z signal turns ON after the PV reaches its maximum value. Before running the program, make the following settings in the System Setup and restart
the FQM1 to enable the new settings.
Counter 1:
Linear counter, Counting speed = 50 kHz, Phase Z and software reset, and
Increment/decrement pulse input
The other System Setup settings are left at their default settings.
Example
When the PV is between 0 and 2,500 hex, CIO 0001.00 is ON.
When the PV is between 2,501 and 7,500 hex, CIO 0001.01 is ON.
When the PV is between 7,501 and 10,000 hex, CIO 0001.02 is ON.
When the PV is 10,001 hex or higher, CIO 0001.03 is ON.
164
Section 7-5
Pulse Inputs
High-speed
Counter PV
PV reset on
phase-Z signal
PV reset on
phase-Z signal
10000
Range 3
7500
Range 2
2500
Range 1
0
Time
A612: 0001 hex
0002 hex 0004 hex 0008 hex
0001 hex
0002 hex
0008 hex
0004 hex
0001 hex
Content of A612
Internal bit pattern
15 14 13 12 11 10 9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
(0001 hex)
Content is transferred to CIO 0001
to turn ON CIO 0001.00.
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
(0002 hex)
Content is transferred to CIO 0001
to turn ON CIO 0001.01.
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
(0004 hex)
Content is transferred to CIO 0001
to turn ON CIO 0001.02.
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
(0008 hex)
Content is transferred to CIO 0001
to turn ON CIO 0001.03.
P_On
A610.00
Starts high-speed counter 1.
(Always ON)
Start high-speed
counter.
A610.01
Turns ON the High-speed Counter 1 Reset Bit.
Reset Bit
P_On
(Always ON)
CTBL
#0001
#0001
D00000
MOV
A613
0001
Continually compares the high-speed counter PV
from high-speed counter 1 with the specified
ranges.(In this case, the comparison table
begins at D00000.)
Transfers the internal bit pattern from A613 to
CIO 0001.
D00000
D00001
D00002
D00003
D00004
D00005
D00006
D00007
D00008
D00009
D00010
D00011
D00012
D00013
D00014
D00015
D00016
D00017
D00018
D00019
D00020
0004
0000
0000
2500
0000
0001
2501
0000
7500
0000
0002
7501
0000
0000
0001
0004
0001
0001
FFFF
7FFF
0008
4 comparison conditions
Lower limit A 0
Range A
Upper limit A 2500
Bit pattern
Lower limit B 2501
Range B
Upper limit B 7500
Bit pattern
Lower limit C 7501
Range C
Upper limit C 10000
Bit pattern
Lower limit D 10001
Range D
Upper limit D 7FFFFFFF
Bit pattern
END
165
Section 7-5
Pulse Inputs
Example 3:
Latching High-speed
Counter PV
In this example, pulse input 1 operates a high-speed counter, the high-speed
counter PV is latched, and the captured high-speed counter PV is read. When
the Latch Input 1 Enable Bit is ON and the latch input 1 is turned OFF→ON
externally, the high-speed counter PV is captured to the latch register and the
Count Latched Flag is turned ON during the next I/O refreshing.
The Count Latched Flag is used as a trigger for the PRV(881) instruction to
read the captured high-speed counter PV and the Count Latched Flag is then
turned OFF.
If latch input 1 is turned ON again while the Count Latched Flag is still ON
(before the captured PV has been read by the PRV(881) instruction), the old
captured PV will be refreshed with the new captured PV.
ON
Latch Input 1
Enable Bit
OFF
ON
Latch input 1
OFF
ON
Count Latched
Flag
OFF
PRV instruction
execution
PRV instruction
execution
High-speed
Counter PV
0
Latch register
value 1
Clear Latch
PRV
#0001
#0002
W000
Start Latch
Dummy read of
latch register
A610.08
Latch Input 1
Enable Bit
A610.08
166
Latch Input 1
Enable Bit
Count Latched
Flag
A608.08
PRV
#0001
#0002
D00000
Read latched high-speed
counter PV.
Section 7-6
Pulse Outputs
7-6
Pulse Outputs
7-6-1
Applicable Models
Model
FQM1-MMP21
7-6-2
Functions
Motion Control Module with Pulse I/O
Outline
The FQM1-MMP21 Motion Control Module provides 2 pulse outputs. The
pulse outputs can be used for the following functions.
Note
Function
Set the pulse output operation mode for each output in System Setup (Pulse
Output Tab Page).
Description
Pulse output opera- The pulse outputs can be used for positioning or speed control at
tion mode
a fixed duty ratio. Select one of five pulse output operation
modes: Relative pulse output, linear absolute pulse output, circular absolute pulse output, electronic cam (linear), and electronic
cam (circular).
One-shot pulse out- Pulse output turned ON for only the specified interval (0.01 to
puts
9,999 ms.)
Calculation (time
Enables use of the pulse output counter as a timer using the
measurement)
one-shot pulse output timer.
Note Pulses are not output for this mode and the specified port
cannot be used for pulse output.
Note
Processing for PV
It is possible to generate target-value interrupts (see note 2)
or range-comparison bit pattern
outputs based on the pulse output’s PV. (See note 1.)
None
It is possible to generate target-value interrupts or
range-comparison bit pattern
outputs based on the pulse
counter’s PV. (See note 1.)
(1) The processes listed in the following table can be performed for the PV of
a pulse output, pulse output counter timer, or one-shot pulse output
elapsed time.
Process
Description
Target value interrupts An interrupt task can be executed when the
high-speed counter PV equals a target value.
Bit pattern outputs for A user-set bit pattern is output internally when the
range comparisons
high-speed counter PV is within a specified range.
(2) Cannot be combined with pulse output in independent mode.
167
Section 7-6
Pulse Outputs
7-6-3
Specifications
Item
Specification
Acceleration/ decelera- None
tion
Yes
Trapezoid
None
None (acceleration or
deceleration)
Yes with separate
acceleration and
deceleration rates
Instructions for independent-mode positioning
PULS(886) +
SPED(885)
PULS(886) +
ACC(888)
PLS2(887)
PULS(886) (Electronic Cam Control)
Instructions for contin- SPED(885)
--ACC(888)
--uous-mode speed control
Output frequencies
Constant specified for 0 Hz to 1 MHz
0 Hz to 1 MHz
SPED(885): 0 Hz to
1 MHz
Word specified for
SPED(885): 0 Hz to
1 MHz
Although the above ranges can be set for the instructions, the output frequency range is ultimately controlled by the clock frequency. The output frequencies are obtained by dividing the
clock pulse with an integer dividing ratio, meaning the actual output frequency can be different
from the set frequency. (Refer to Precautions when Using Pulse Outputs on page 175 for details.)
The settings in the System Setup (Clock) are as follows:
20 MHz
Pulse output frequency range: 400 Hz to 1 MHz
10 MHz
Pulse output frequency range: 200 Hz to 200 kHz
5 MHz
Pulse output frequency range: 100 Hz to 100 kHz
2.5 MHz
Pulse output frequency range: 40 Hz to 50 kHz
1.25 MHz Pulse output frequency range: 20 Hz to 20 kHz
Frequency acceleration/deceleration rate
---
1 Hz to 9,999 Hz every 2 ms or 1 ms
Duty ratio
50% (fixed)
Pulse output operation One of the following can be set for each port in the System Setup.
modes
1) Relative pulse output:
No. of output pulses = pulse output value
2) Absolute linear pulse output:
No. of output pulses = |PV of pulse output – target pulse amount|
3) Absolute circular pulse output:
As above. If the circular maximum count is exceeded, the count value returns to 0000 0000
hex. (Circular maximum count is set in System Setup.)
4) Electronic cam control (linear) (output with absolute position specification:)
The direction is automatically determined from the relation between the PV and target position
(PV < Target = CW, PV > Target = CCW. No. of output pulses = |PV of pulse output – target
pulse amount|
5) One-shot pulse output:
Pulse turned ON for specified time between 0.01 and 9,999 ms via STIM(980) instruction
6) Pulse counter timer:
High-precision timer created using the one-shot pulse output function. Pulses are not output
externally.
7) Electronic cam (circular) (output with absolute position specification):
The direction is automatically determined from the relation between the PV and target position
(PV < Target = CW, PV > Target = CCW). No. of output pulses = |PV of pulse output – target
pulse amount)|
168
Section 7-6
Pulse Outputs
Item
Number of output
pulses
Storage location for
pulse output PV
Specification
1) Relative pulse output:
0000 0000 to FFFF FFFF hex
2) Absolute linear pulse output:
8000 0000 to 7FFF FFFF hex
3) Absolute circular pulse output:
0000 0000 to Circular maximum count hex
4) Electronic cam control (linear) (output with absolute position specification):
8000 0000 to 7FFF FFFF hex
5) Electronic cam control (circular) (output with absolute position specification):
0000 0000 to 7FFF FFFF hex
Note The number of pulses is not set for a one-shot pulse output or pulse counter timer.
The PVs for pulse output operation modes 1 to 5, listed above, are stored in 8-digit hexadecimal
in the following Auxiliary Area words:
Pulse output 1: A621 (upper bytes) and A620 (lower bytes)
Pulse output 2: A623 (upper bytes) and A622 (lower bytes)
Target value comparison interrupts or bit pattern outputs for range comparisons can be performed on the PV.
Note The contents of these above words are updated during I/O refreshing.
7-6-4
Pulse Output Specifications
All Pulse Outputs Except for One-shot Pulse Outputs
Item
Specification
Number of pulse out- 2 outputs
puts
Signals
Pulse output CW and CCW
Max. output frequency
1 MHz (but actual output frequencies are governed by clock
frequency setting)
External power supply
Line-driver output
5 VDC +10%/–15%, 120 mA max.
Conforms to Am26LS31 and max. output current is 20 mA.
One-shot Pulse Outputs
Item
Number of pulse out- 2 output
puts
Specification
External power supply
24 VDC +10%/–15%, 30 mA max.
Max. switching
capacity
NPN open-collector, 80 mA at 5 to 24 VDC ±10%
Min. switching
capacity
Leakage current
NPN open-collector, 7 mA at 5 to 24 VDC ±10%
Residual voltage
Output pulse width
0.4 V max.
(Set time) ± (1 µs or 0.1% of the set time, whichever is larger)
0.1 mA max.
Output
pulse width
ON
90%
OFF
Note
1. The load during measurement is assumed to be a simple resistive load and the impedance of the cable connecting the
load is not considered.
2. The actual pulse width might be smaller than the value given
above due to pulse waveform distortion caused by impedance in the connecting cables.
169
Section 7-6
Pulse Outputs
7-6-5
Applicable Instructions
The following seven instructions can be used to control pulse outputs. The
relationship between the instruction and the types of pulse output that is possible is also listed in the following table.
Instruction
Control
Positioning (Independent Mode)
No
Acceleration/deceleration,
acceleration/
single-phase output
deceleration, No trapezoid,
Trapezoid,
single-phase acceleration
separate
output
and
acceleration and
deceleration deceleration rates
Speed Control (Continuous
Mode)
No
Acceleration/
acceleration/ deceleration,
deceleration, single-phase
single-phase
output
output
PULS(886)
Sets number of out- OK
put pulses or absolute position.
OK
No
No
No
SPED(885)
Controls pulse out- OK
put without acceleration or
deceleration (number of pulses set
with PULS(886) for
positioning).
No
No
OK
No
ACC(888)
Controls pulse out- No
put with same
acceleration and
deceleration without trapezoid (number of pulses set
with PULS(886) for
positioning).
Sets absolute posi- OK
tion or frequency
and outputs pulses.
OK
No
No
OK
No
No
No
No
Controls pulse out- No
put with different
acceleration and
deceleration with
trapezoid (number
of pulses is also set
using PLS2(887)).
Stops pulse output. OK
No
OK
No
No
OK
OK
OK
OK
OK
OK
OK
OK
PULS(886)
for Electronic Cam
PLS2(887)
INI(880)
PRV(881)
Reads the current
OK
PV for pulse output.
Instructions Ineffective
during Pulse Output
170
Once pulse output has been started by an instruction, the output cannot
always be changed with an instruction. Refer to 7-6-15 Pulse Output Starting
Conditions for details on the allowed combinations of pulse output instructions.
Section 7-6
Pulse Outputs
7-6-6
Pulse Output Function Details
Overview
Pulses are output in independent mode or continuous mode. In independent
mode, the number of output pulses is specified in advance. In continuous
mode, the number of output pulses is not specified in advance.
Mode
Independent mode
Continuous mode
Note
Description
This mode is used for positioning.
The pulse output stops automatically after the specified number of pulses has been output. With some instructions, the
pulse output can be stopped (see note).
This mode is used for speed control.
The pulse output continues until it is stopped by an instruction
(see note) or the Motion Control Module is switched to PROGRAM mode.
When pulses are being output by an SPED(885) or ACC(888) instruction, the
pulse output can be stopped by executing the INI(880) instruction. The pulse
output can also be stopped by executing SPED(885) or ACC(888) with a target frequency = 0.
When pulses are being output by the PULS(886) instruction (Electronic Cam
Control), the pulse output can be stopped by executing the INI(880) instruction.
When using independent mode, select one of the four pulse output operation
modes shown in the following table, depending on the method used to calculate the number of pulses and whether it is necessary to change the value
during operation. Specify the pulse output operation mode in the System
Setup (the operation mode setting in the Pulse Output Tab Page). In addition,
if the PULS(886) instruction is being used, it is necessary to specify the Pulse
Type in the second operand.
171
Section 7-6
Pulse Outputs
Pulse output
Description
operation mode
(Only in
Independent Mode)
(1)
Positions to a relative position from the present position.
Relative pulse output The number of output pulses (actual output amount) in
the specified direction is the target number of pulses.
• The frequency can be changed during pulse output.
• The direction and the target number of pulses cannot
be changed during pulse output.
(2) (3)
Absolute pulse output
(4)
Electronic cam control (linear)
(5)
Electronic cam control (circular)
172
Compatible instructions
PULS(886) + SPED(885) or
PULS(886) + ACC(888)
(PULS(886) sets the number of pulses
and SPED(885) or ACC(888) starts the
pulse output.)
PLS2(887)
(Sets number of pulses and starts
pulse output.)
Positions to an absolute position from the origin.
The number of output pulses is calculated automatically
from the difference between the present position (pulse
output PV) and target pulse amount.
Number of output pulses (actual output amount) =
|Present position − Target position|
• The frequency can be changed during pulse output.
• The direction and the target number of pulses cannot
be changed during pulse output.
---
(2) Linear mode Operates as linear counter with pulse
output values ranging from 8000 0000
to 7FFF FFFF hex.
Same as for (1).
(3) Circular
mode
PULS(886) + SPED(885) or
PULS(886) + ACC(888)
(PULS(886) sets the number of pulses
and SPED(885) or ACC(888) starts the
pulse output.)
Operates as circular counter with pulse
output values ranging from 0000 0000
to the circular value.
When the pulse output PV exceeds the
circular value, it is automatically
returned to 0000 0000. Conversely,
when the pulse output PV is decremented from 0000 0000, it is automatically returned to the circular value.
Positions to an absolute position from the origin.
The difference between the present position (pulse output
PV) and target pulse amount is calculated automatically.
Number of output pulses (actual output quantity) =
|Present pulse position − Target position|
• The direction is recognized automatically (CW direction
when the present position < target position, and CCW
direction when the present position > target position).
• The frequency and target position can be changed during pulse output. The pulse output will stop if the direction is changed during pulse output.
PULS(886) (Sets the number of pulses
and starts the pulse output.)
ACC(888)
PLS2(887)
Section 7-6
Pulse Outputs
Pulse Output
Operations
Mode
Continuous mode
(Speed
control)
The following table shows the operations that can be performed with the pulse
output function.
Frequency changes
Frequency
Target
frequency
Present
frequency
Description
Procedure
InstrucSettings
tions
Example
The frequency is
changed in
steps (up or
down) during
pulse output.
SPED(88
5)
↓
SPED(88
5)
Port,
CW/CCW,
Continuous,
Target frequency
Use when
changing frequency in
steps. (See
page 190.)
The frequency is
accelerated or
decelerated
from the present
frequency at a
fixed rate.
ACC(888)
or
SPED(88
5)
↓
ACC(888)
Port,
CW/CCW,
Continuous,
Acceleration/deceleration
rate,
Target frequency
Use when
accelerating
frequency at
a fixed rate.
(See
page 190.)
Time
SPED executed.
Frequency
Target
frequency Acceleration rate
Present
frequency
Time
ACC executed.
173
Section 7-6
Pulse Outputs
Mode
Independent
mode
(Positioning)
Frequency changes
Description
Pulse output
starts at the
specified frequency and
stops when the
specified number of pulses
have been output.
(The number of
pulses cannot
be changed during pulse output.)
Frequency
Specified no. of pulses
(Specified with PULS)
Target
frequency
Time
SPED executed.
Frequency
Stops after specified no.
of pulses are output.
Specified no. of pulses
(Specified with PULS)
Target
frequency
Acceleration
rate
Time
ACC executed.
Stops after specified no.
of pulses are output.
Frequency
Target
frequency
Present
frequency
Time
PULS executed.
Stops at specified position.
Frequency
Specified number
of pulses
Target
frequency Acceleration rate
Deceleration rate
Starting
frequency
Stopping
frequency
Time
Output
starts Target
reached
174
Deceleration
point
Output
stops
Procedure
InstrucSettings
tions
PULS(88 No. of
6)
pulses,
Relative or
↓
absolute
SPED(88 operation,
5)
Port,
CW/CCW,
Independent,
Target frequency
Example
Use when
positioning
with a single-phase
output and no
acceleration
or deceleration. (See
page 189.)
The frequency
accelerates or
decelerates at a
fixed rate and
stops immediately when the
specified number of pulses
have been output.
(The number of
pulses cannot
be changed during pulse output.)
PULS(88
6)
↓
ACC(888)
No. of
--pulses,
Relative or
absolute
operation,
Port,
CW/CCW,
Independent,
Acceleration/deceleration
rate,
Target frequency
Pulse output
starts at the
specified frequency and
stops immediately when the
specified position is reached.
(The target position can be
changed during
positioning
(pulse output).)
PULS(88
6) (Electronic
Cam Control)
Port,
Target frequency,
Absolute
positioning
Use for absolute positioning
(electronic
cam control)
with a single-phase
output, no
acceleration
or deceleration, and target position
changes in a
fixed time
interval. (See
page 191.)
The frequency
PLS2(887 Port,
accelerates at a )
CW/CCW,
fixed rate, decelAcceleraerates at a fixed
tion rate,
rate, and stops
Decelerawhen the specition rate,
fied number of
Target frepulses have
quency,
been output.
Starting
frequency,
(The number of
No. of
pulses cannot
pulses
be changed during positioning
(pulse output).)
Use for trapezoidal acceleration/
deceleration
within a set
time (the
dwell time)
and then a
repeat of the
operation in
the opposite
direction.
(See
page 193.)
Section 7-6
Pulse Outputs
Mode
Stop
Frequency changes
Description
Stops the pulse
output immediately.
Frequency
Present
frequency
Time
INI executed.
Stops the pulse
output immediately.
Frequency
Present
frequency
Time
Procedure
Example
InstrucSettings
tions
SPED(88 Stop pulse --5) or
output
ACC(888)
or
PULS(88
6) (Electronic
Cam Control)
↓
INI(880)
SPED(88
5) or
ACC(888)
↓
SPED(88
5)
Port,
--Continuous,
Target frequency = 0
Decelerates the SPED(88
pulse output to a 5) or
stop.
ACC(888)
↓
ACC(888)
Port,
--Continuous,
Acceleration/deceleration
rate,
Target frequency = 0
SPED executed.
Frequency
Present
frequency
Acceleration/
deceleration rate
Target
frequency = 0
Time
ACC executed.
Note
Precautions when
Using Pulse Outputs
With ACC(888) and PLS2(887), the acceleration/deceleration rate’s
speed-change cycle can be set to 2ms or 1 ms. Also, the acceleration/deceleration rate can be set between 1 Hz and 9.999 kHz. Refer to 7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instructions for more
details.
Pulses are output according to the clock frequency (20 MHz, 10 MHz, 5 MHz,
2.5 MHz, or 1.25 MHz) specified in the System Setup (Pulse Output/Clock).
The clock signal is divided by an integer dividing ratio to create and output the
output pulse frequency. This means that the actual frequency may not be the
same as the target frequency. Refer to the following information to calculate
the actual frequency.
The following information is used to calculate the output frequency.
Target frequency:
Set by user.
Dividing ratio:
An integer set in the dividing circuit used to generate the output pulses at the
target frequency.
Actual frequency:
The actual frequency that is output as generated by the dividing circuit.
175
Section 7-6
Pulse Outputs
Integer dividing ratio set
according to the target
frequency set by user.
Output pulses
(Actual output frequency)
Dividing circuit
Clock-generated pulses
(one of four possible settings)
Formula:
Actual frequency = Clock frequency ÷ INT (clock frequency/target frequency)
Note INT (clock frequency/target frequency) is the dividing ratio.
The difference between the target frequency and the actual frequency
increases at higher frequencies. The following tables shows examples for a
clock frequency of 20 MHz.
7-6-7
Target frequency (Hz)
Actual output frequency
952,382 to 1,000,000
909,092 to 952,381
1,000,000
952,381
869,566 to 909,091
.
.
.
909,091
.
.
.
487,806 to 500,000
476,191 to 487,805
500,000
487,805
465,117 to 476,190
.
.
.
198,021 to 200,000
476,190
.
.
.
100,806
196,079 to 198,020
194,176 to 196,078
198,020
196,078
.
.
.
.
.
.
49,876 to 50,000
49,752 to 49,875
50,000
49,875
4,929 to 49,751
.
.
.
49,751
.
.
.
402
401
402
401
400
400
One-shot Pulse Output Function
The one-shot pulse output function turns ON the output only for a specified
time between 0.01 and 9,999 ms. Use the STIM(980) instruction to start the
pulse output (turn the output from OFF to ON). After the time specified in
STIM(980) has elapsed, the pulse output is automatically turned OFF (in the
hardware).
176
Section 7-6
Pulse Outputs
Turned ON by STIM
instruction execution.
Turned OFF by hardware.
ON
One-shot pulse output
OFF
Setting units: Select 0.01 ms, 0.1 ms, or 1 ms.
Setting range: 0001 to 270F Hex (1 to 9,999)
Set the pulse output operation mode to 1 shot in advance in the System
Setup, as shown in the following table.
Tab page
Pulse Output
Note
Function
Pulse Output 1 − Operation mode
Setting
1 shot (one-shot pulse output)
Pulse Output 2 − Operation mode
1 shot (one-shot pulse output)
A pulse output port that is being used for one-shot pulse outputs cannot be
used for any other pulse output functions.
The elapsed time of the one-shot pulse output is stored in 8-digit hexadecimal
in words A621 and A620 (pulse output 1) or A623 and A622 (pulse output 2).
When the one-shot pulse output is turned ON, the content of the corresponding words is set to 0000 0000 hex and the content is incremented as time
passes. The final value is retained when the one-shot output is turned OFF.
Word
A620
Bits
00 to 15
A621
00 to 15
A622
00 to 15
A623
00 to 15
Function
Elapsed time Lower
of One-shot
4 digits
pulse output 1 Upper
4 digits
Contents
Contains the elapsed time of the
one-shot pulse output in 8-digit hexadecimal.
The content can range from 0000 0000
to 0000 270F hex, and the units are set
to 0.01 ms, 0.1 ms, or 1 ms with the
STIM(980) instruction.
Note These words are refreshed during the Motion Control Module’s
I/O refreshing.
Elapsed time Lower These words function just like the
of One-shot
4 digits words for pulse output 1, described
pulse output 2 Upper above.
4 digits
One-shot Pulse Output Specifications
Item
Specification
Pulse ON time
0.01 to 9,999 ms (Can be set with the STIM(980) instruction.)
Operating conditions 1. Set the pulse output operation mode to 1 shot in the System
Setup.
2. Execute the STIM(980) instruction with operand C1 = #0001
or #0002.
Response time
Response time when the STIM(980) instruction is executed at
the beginning of an interrupt task:
0.2 ms max. from the generation of the interrupt until the
one-shot pulse output goes ON
177
Section 7-6
Pulse Outputs
7-6-8
Time Measurement with the Pulse Counter
The one-shot pulse output function can be used to create a high-precision
pulse counter timer.
To measure time with high-precision, start the timer by executing the
STIM(980) instruction with C1 = 000B or 000C and C2 = 0000, and stop the
timer by executing STIM(980) with C1 = 000B or 000C and C2 = 0001.
Counting mode
(Time measurement)
Timer start condition
Timer started by executing
STIM with C2 = 0000.
Timer stop condition
Timer stopped by executing
STIM with C2 = 0001.
Timer PV in
A620 and A621
or A622 and A623
PV held
PV reset
Time
Elapsed time
The timer’s elapsed time is stored in 8-digit hexadecimal in words A621 and
A620 (pulse output 1) or A623 and A622 (pulse output 2). When the timer
starts, the corresponding words are initialized to 0000 0000 hex and the content is incremented as time passes. The final value is retained when the timer
stops.
Word
Bits
Function
Contents
A620
00 to 15
A621
00 to 15
Pulse time
measurement
1
Lower Contains the pulse counter’s time mea4 digits surement in 8-digit hexadecimal.
Upper The content can range from 0000 0000
4 digits to FFFF FFFF hex.
Note These words are refreshed during the Motion Control Module’s
I/O refreshing.
A622
00 to 15
A623
00 to 15
Pulse time
measurement
2
Lower These words function just like the
4 digits words for pulse time measurement 1,
Upper described above.
4 digits
Set the pulse output operation mode to Calculation (time measurement) in
advance in the System Setup, as shown in the following table.
Tab page
Pulse Output
Function
Pulse output 1 − Operation mode
Details
Calculation (time measurement)
Pulse output 2 − Operation mode
Note
(1) The external pulse output from the port is disabled when this mode is selected.
(2) A pulse output port that is being used as a pulse counter timer cannot be
used for any other pulse output functions.
178
Section 7-6
Pulse Outputs
(3) If the STIM(980) instruction is executed again to restart an operating timer, the timer value will be reset to 0 and the timer will restart.
Pulse Counter Timer Specifications
Item
Specification
Timer measurement
range
0000 0000 to FFFF FFFF hex
The time units can be set to 0.01 ms, 0.1 ms, or 1 ms with the
STIM(980) instruction.
Operating conditions 1. Set the pulse output operation mode to Calculation (time
measurement) in the System Setup.
2. To start or stop the timer, execute the STIM(980) instruction
with operand C1 = #000B or #000C and one of the following
C2 values:
To start the timer, execute STIM(980) with operand C2 =
#0000.
To stop the timer, execute STIM(980) with operand C2 =
#0001.
7-6-9
Target-value Comparison Interrupts from Pulse Output PVs
An interrupt task can be executed when the pulse output PV reaches a target
value, although this function cannot be used in independent mode (positioning), one-shot pulse output operation mode, or electronic cam control
because the pulse output stops.
When the pulse output operation mode is set to linear mode, this function can
be used for speed control (frequency changes) based on the present position.
When the pulse output operation mode is set to circular mode, this function
can be used for continuous speed control to control a series of repetitive operations at specific positions by repeating speed control patterns.
The processing of the target-value comparison interrupts for pulse output PVs
is the same as the processing for high-speed counter PVs, so refer to Checking for High-speed Counter Interrupts under High-speed Counter Function
Description in 7-5-8 Pulse Input Function Description for details.
179
Pulse Outputs
Section 7-6
Linear Mode
Operation
A target value can be set at a desired pulse output PV to execute an interrupt
task when the target value is reached. An ACC(888) or SPED(885) instruction
can be programmed in the interrupt task to perform speed control at that target value.
Frequency
(speed)
Target value 5
Target value 4
Target value 3
Target value 2
Target value 1
Pulse output PV
Speed
(frequency)
Controlled by
ACC instruction.
Time
180
Section 7-6
Pulse Outputs
3.00
@CTBL
#3
#0
D00000
Cyclic
task
D00000
0
0
0
5
D00001
0
5
0
0
D00002
0
0
0
0
D00003
0
0
0
1
D00004
2
0
0
0
D00005
0
0
0
0
D00006
0
0
0
2
D00013
0
0
0
0
D00014
0
0
1
0
D00015
0
0
0
5
When CIO 0003.00 goes ON,
a target-value comparison
interrupt starts for the pulse
output 1 PV.
No. of comparisons: 5
Target value 1: 00000500
Interrupt task 1
Target value 2: 00002000
Interrupt task 2
Target value 5: 00100000
Interrupt task 5
END
P_On
A624.06
Interrupt
task 1
ACC
Always ON
#1
#0
D00100
Accelerating/
Decelerating
D00100
D00101
D00102
0
0
0
0
7
0
3
D
0
2
0
0
If interrupt task 1 is executed,
the frequency is changed to a
target frequency of 2,000 Hz
with an acceleration/deceleration
rate of 50 Hz/2 ms.
Acceleration/deceleration rate
Target frequency
END
P_On
A624.06
Interrupt
task 2
ACC
Always ON
#1
#0
D00200
Accelerating/
Decelerating
If interrupt task 2 is executed,
the frequency is changed to a
target frequency of 30,000 Hz
with an acceleration/deceleration
rate of 90 Hz/2 ms.
END
D00200
D00201
D00202
0
7
0
0
5
0
5
3
0
A
0
0
Acceleration/deceleration rate
Target frequency
(Interrupt tasks 3, 4, and 5 are entered in the same way.)
181
Section 7-6
Pulse Outputs
Circular Mode
Operation
A speed control pattern can be repeated in continuous speed control to control a series of repetitive operations at specific positions. For example, the following diagram shows an axis that repeatedly switches to low-speed
operation at one position and switches to high-speed operation at another
position. Since the speed control pattern must repeat in these applications, a
counter cannot be used if it is reversible.
Single-rotation speed control pattern
High-speed
region
0
Low-speed
region
Pulse output PV
Target value 2
Target value 1
Time
Speed
(frequency)
High-speed
region
Low-speed
region
Controlled by
ACC instruction.
Time
7-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs
Bit patterns can be output internally in the Auxiliary Area when the pulse output PV is within a specified range.
The processing of the range-comparison bit pattern outputs for pulse output
PVs is the same as the processing for high-speed counter PVs, so refer to
Checking for High-speed Counter Interrupts under High-speed Counter Function Description in 7-5-8 Pulse Input Function Description for details.
7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887)
Instructions
The acceleration/deceleration rate’s speed-change cycle can be set to either
1 ms or 2 ms for the ACC(888) and PLS2(887) instructions. The same
speed-change cycle setting applies to both pulse output 1 and 2 and both the
ACC(888) and PLS2(887) instructions.
182
Section 7-6
Pulse Outputs
Setting the
Speed-change Cycle
The speed change cycle for the ACC(888) and PLS2(887) instructions is
specified by setting the ON/OFF bit status of A628.07 before executing the
ACC(888) or PLS2(887) instruction.
2-ms Cycle
Execute ACC(888) or PLS2(887) with A628.07 OFF.
Execution
condition
@ACC
#1
#0
D00000
D00000
D00001
D00002
1-ms Cycle
07D0
C350
0000
Acceleration/deceleration rate: 2 kHz
Target speed: 50 kHz
Execute ACC(888) or PLS2(887) with A628.07 ON.
A628.07
P_On
Execution
condition
@ACC
#1
#0
D00000
D00000
D00001
D00002
07D0
C350
0000
Acceleration/deceleration rate: 2 kHz
Target speed: 50 kHz
7-6-12 PLS2(887) Pulse Output Direction Priority Mode
The direction of pulses output by the PLS2(887) instruction can be determined manually based on a user-set operand (pulse output direction priority
mode) or automatically based on the absolute position (absolute position priority mode).
Pulse Output Direction
Priority Mode
The user determines the pulse output direction with an operand setting.
Absolute Position Priority
Mode
The pulse output direction is determined automatically from the absolute position.
Pulses will be output only when the output direction specified in the
PLS2(887) instruction matches the direction determined from the absolute
position.
The Motion Control Module ignores the pulse output direction specified by the
PLS2(887) operand setting. This mode allows positioning to be based on the
absolute position only, so it is not necessary for the user to specify the direction.
183
Section 7-6
Pulse Outputs
Setting the Pulse
Output Direction
Priority Mode
The pulse output direction priority mode for the PLS2(887) instruction is specified by setting the ON/OFF bit status of A628.14 before executing the
PLS2(887) instruction.
Note
Pulse Output Direction
Priority Mode
The priority mode setting in A628.14 applies to both pulse output 1 and 2.
Execute PLS2(887) with A628.14 OFF.
CW Output
@PLS2
#1
#0
D00000
D00000
D00001
D00002
D00003
D00004
D00005
D00006
D00007
Absolute Position Priority
Mode
8000
0000
C350
0000
0000
0000
03E8
03E8
Pulse output 1
CW direction
Setting table: D00000
Target position: 8000 Hex
Target speed: 50 kHz
Starting speed: 0 Hz
Acceleration rate: 1,000 Hz
Deceleration rate: 1,000 Hz
Execute PLS2(887) with A628.14 ON.
A628.14
P_On
Execution condition
@PLS2
#1
#0
D00000
D00000
D00001
D00002
D00003
D00004
D00005
D00006
D00007
8000
0000
C350
0000
0000
0000
03E8
03E8
Pulse output 1
CW direction
The direction setting is
ignored and the direction
is changed automatically.
Setting table: D00000
Target position: 8000 Hex
Target speed: 50 kHz
Starting speed: 0 Hz
Acceleration rate: 1,000 Hz
Deceleration rate: 1,000 Hz
7-6-13 Pulse Output Function Procedures
Pulse Outputs without Acceleration/Deceleration (PULS(886) + SPED(885))
This procedure shows how to use PULS(886) and SPED(885) to generate a
single-phase pulse output without acceleration or deceleration. The number of
output pulses cannot be changed during positioning.
1,2,3...
1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Wire the output.
• Output: CW and CCW
• Output power supply: 5 V DC
3. Make the necessary System Setup settings (Pulse Output Tab Page − Operation Mode).
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to relative pulse output, absolute linear pulse output, or
absolute circular pulse output.
184
Section 7-6
Pulse Outputs
• Set the clock speed for pulse outputs 1 and 2.
4. Create the necessary ladder programming.
• Use PULS(886) to set number of output pulses for the specified port.
• Use SPED(885) to start pulse output control without acceleration/deceleration from the specified port.
• Use INI(880) to stop pulse output from the specified port.
• Use PRV(881) to read the pulse output PV of the specified port.
Pulse output function
System Setup
Pulse output mode
Single-phase output
without acceleration/
deceleration
(fixed duty ratio)
Start
output
Ladder program
PULS
CW Pulse output
CCW port 1
CW Pulse output
Ladder program
SET PULSES
SPED
Set the number of
output pulses.
CCW port 2
SPEED OUTPUT
Output mode:
CW/CCW, independent/continuous
Target frequency
INI
MODE CONTROL
Start pulse output
Stop pulse output.
Refresh status (once each cycle
just after instruction execution)
Pulse output status
Refresh PV (once each cycle)
Port 1 A624
Port 2 A625
Pulse output PV
Port 1
Port 2
A621
A623
A620
A622
Pulse Outputs with Acceleration/Deceleration
This procedure shows how to use PULS(886) and ACC(888) to generate a
pulse output with acceleration or deceleration. The number of output pulses
cannot be changed during positioning.
1,2,3...
1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Wire the output.
• Output: CW and CCW
• Output power supply: 5 V DC
3. Make the necessary System Setup settings (Pulse Output Tab Page − Operation Mode).
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to relative pulse output, absolute linear pulse output, or
absolute circular pulse output.
• Set the clock speed for pulse outputs 1 and 2.
4. Create the necessary ladder programming.
• Use PULS(886) to set number of output pulses for the specified port.
• Use ACC(888) to start pulse output control with acceleration or deceleration from the specified port (acceleration and deceleration are specified
separately).
• Use INI(880) to stop pulse output from the specified port.
185
Section 7-6
Pulse Outputs
• Use PRV(881) to read the pulse output PV of the specified port.
Single-phase
pulse output
(fixed duty ratio)
Mode settings for
ports 1 and 2
Start
output
CW
CCW
CW
Ladder program
System Setup
Pulse output
mode
PULS
SET PULSE
Set the number
of output pulses.
INI
Ladder program
ACC
ACCELERTION
CONTROL
MODE CONTROL
Stop pulse output.
CCW
Pulse output
port 1
Pulse output
port 2
Mode settings (CW/CCW, acceleration/deceleration, independent/continuous)
Target frequency: 0 Hz to 1 MHz
Acceleration/deceleration rate
(common) (1 or 2 ms cycle,
1 Hz to 9,999 Hz)
Start pulse output.
Refresh status (once each cycle
just after instruction execution)
Pulse output status
Port 1
A624
A625
Port 2
Refresh PV (once each cycle)
Refresh PV (immediate refresh)
Pulse output PV
Port 1
Port 2
A621
A623
PRV
A620
A622
HIGH-SPEED
COUNTER
PV READ
Pulse Outputs without Acceleration/Deceleration (PULS(886): Electronic Cam
Control)
This procedure shows how to use the PULS(886) instruction’s electronic cam
control function to generate a single-phase pulse output without acceleration
or deceleration. The number of output pulses can be changed during positioning.
Procedure
1,2,3...
1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Wire the output.
• Output: CW and CCW
• Output power supply: 5 V DC
3. Make the necessary System Setup settings (Pulse Output Tab Page − Operation Mode).
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to absolute linear pulse output (electronic cam control)
or absolute circular pulse output (electronic cam control).
• Set the clock speed for pulse outputs 1 and 2.
4. Create the necessary ladder programming.
• Use PULS(886) to set the absolute position, output frequency, and pulse
output (automatic determination of pulse output direction) for the specified
port.
• Use INI(880) to stop pulse output from the specified port.
• Use PRV(881) to read the pulse output PV of the specified port.
Electronic Cam Control
Functions
The electronic cam control supports the following functions.
• The pulse output direction is determined automatically by comparing the
present position (pulse output PV) and target position.
• The PULS(886) instruction can be executed during pulse output to
change the absolute position setting and pulse frequency.
• Applications of Electronic Cam Operation:
186
Section 7-6
Pulse Outputs
The PULS(886) instruction (Electronic Cam Control) can be used to immediately change the pulse output value for absolute positioning or the pulse
output frequency for speed control in response to the high-speed counter
PV (e.g., for a rotational angle). This feature allows the Motion Control
Module to perform electronic cam operation using simple linear approximation of a curve (for position or speed control based on the cam angle).
By setting a constant cycle time, the high-speed counter PV is read at regular intervals. The PULS(886) (Electronic Cam Control) instruction is executed immediately after reading the high-speed counter PV in order to
determine the new target position for that cycle.
With the PULS(886) instruction (Electronic Cam Control), the target position or pulse output frequency (speed) can be changed by executing another instruction to change the target position or output frequency while the
PULS(886) instruction is being executed. Consequently, position and
speed control can be performed while outputting pulses, which is not possible with the PULS(886) + SPED(885) and PULS(886) + ACC(888) instruction combinations. This capability allows the target position or pulse
output frequency (speed) to be changed in steps at high-speed in response to changes in the pulse input PV. In addition, the pulse input PV
can be processed with operations such as basic arithmetic operations and
the result can be used for the target position or pulse output frequency
(speed).
Note
The pulse output direction is selected automatically based on the
relationship between the present position (pulse output PV) and
target position.
Pulse input PV
Time
Execution with constant
cycle time
Pulse output PV (absolute position)
PULS instruction execution
(Changes target position and speed.)
Target position
PULS (Electronic Cam
Mode) is executed in the
program with changed
target position and speed.
Time
Note
Speed control can be performed on a virtual axis by generating a virtual axis
position (internal pulse count) with the AXIS instruction, processing that value
with arithmetic operations or the APR instruction, and changing the target
position or speed with the PULS(886) instruction. Refer to 7-8-4 Application
Example for details.
Trapezoidal Pulse Output with Acceleration/Deceleration (PLS2(887))
This procedure shows how to use PLS2(887) to generate a pulse output with
trapezoidal acceleration and deceleration. The number of output pulses cannot be changed during positioning.
1,2,3...
1. Determine pulse output port.
187
Section 7-6
Pulse Outputs
• Select pulse output 1 or 2.
2. Wire the output.
• Output: CW and CCW
• Output power supply: 5 V DC
3. Make the necessary System Setup settings (Pulse Output Tab Page − Operation Mode).
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to relative pulse output or absolute linear pulse output.
• Set the clock speed for pulse outputs 1 and 2.
4. Create the necessary ladder programming.
• Use PLS2(887) to start pulse output control with trapezoidal acceleration/
deceleration from the specified port (acceleration and deceleration are
specified separately).
• Use INI(880) to stop pulse output from the specified port.
• Use PRV(881) to read the pulse output PV of the specified port.
Single-phase pulse output
with trapezoidal
acceleration/deceleration
Mode settings for
ports 1 and 2
Start
output
CW
CCW
CW
Ladder program
System Setup
Pulse output
mode
INI
MODE CONTROL
Ladder program
PLS2
Stop pulse output.
PULSE
OUTPUT
CCW
Pulse output
port 1
Pulse output
port 2
Set number of output pulses.
Target frequency: 20 Hz to 1 MHz
Starting frequency: 0 Hz to 1 MHz
Acceleration/deceleration rates
(set separately)(1 or 2 ms cycle,
1 Hz to 9,999 Hz)
Start pulse output.
Refresh status (once each cycle
just after instruction execution)
Pulse output status
Port 1
A624
A625
Port 2
Refresh PV (once each cycle)
Refresh PV (immediate refresh)
Read pulse output PV
Pulse output PV
Port 1
Port 2
A621
A623
A620
A622
PRV
HIGH-SPEED
COUNTER
PV READ
One-shot Pulse Output (STIM(980))
1,2,3...
1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Wire the output.
3. Make the necessary System Setup settings.
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to 1 shot.
4. Create the necessary ladder programming.
• Use STIM(980) (with C1 = #0001 or #0002) to turn ON the one-shot pulse
output.
Note
The STIM(980) one-shot pulse output function can be used at the same time
as an STIM(980) timer interrupt function (one-shot timer or scheduled timer).
Pulse Counter Timer Function (STIM(980))
1,2,3...
1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Make the necessary System Setup settings.
188
Section 7-6
Pulse Outputs
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to Calculation (time measurement).
3. Create the necessary ladder programming.
a. Use STIM(980) with C1 = #000B or #000C and C2 = #0000 to start
measurement.
b.
Note
Use STIM(980) with C1 = #000B or #000C and C2 = #0001 to stop
measurement.
The STIM(980) pulse counter timer function used at the same time as an
STIM(980) timer interrupt function (one-shot timer or scheduled timer).
7-6-14 Pulse Output Function Examples
Positioning using Pulse Outputs without Acceleration/Deceleration
In the following positioning example, the PULS(886) and SPED(885) instructions are used to control a relative pulse output from port 1 (CW independent
mode positioning). The number of pulses specified in PULS(886) (10,000) are
output at the frequency specified in SPED(885) (2,000 Hz).
Frequency
Number of pulses = 10,000
(Specified by PULS instruction.)
Target frequency
2,000 Hz
SPED executed.
Output stops after 10,000
pulses have been output.
CIO 0002.00
@PULS
#1
#0
D00000
When CIO 0002.00 turns ON,
PULS sets port 1 for 10,000
pulses (relative pulse output).
@SPED
Starts pulse output from
#1
port 1 at 2,000 Hz (2 kHz)
#2
in CW independent mode.
#000007D0
D00000
D00001
2
0
7
0
1
0
0
0
Number of pulses (10,000)
!Caution Be sure that the pulse frequency is within the motor’s self-starting frequency
range when starting and stopping the motor.
189
Section 7-6
Pulse Outputs
Changing the Frequency in Steps
In this example, the SPED(885) instruction is used to change the speed of a
pulse output from port 2 from a frequency of 3,000 Hz to 50,000 Hz. In this
case, the pulse output is a CCW continuous mode output.
Frequency
Target frequency
50,000 Hz
Present frequency
3,000 Hz
Time
SPED executed.
SPED executed.
0002.00
@SPED
#2
#1
#00000BB8
When CIO 0002.00 turns ON,
SPED starts a pulse output from
port 2 at 3,000 Hz (3 kHz) in
CCW continuous mode.
0002.01
When CIO 0002.01 turns ON,
#2 SPED changes the frequency
#1 to 50,000 Hz (50 kHz) in CCW
D00000 continuous mode.
@SPED
D00000
D00001
Note
C
0
3
0
5
0
0
0
Target frequency
Speed control timing will be accurate when frequency changes are executed
by SPED(885) instructions in interrupt tasks called by input interrupts.
Accelerating the Frequency at a Fixed Rate
In this example, the ACC(888) instruction is used to accelerate the pulse output from port 2 from a frequency of 3,000 Hz to 50,000 Hz at an acceleration
rate of 500 Hz/2 ms.
Frequency
Target frequency
50,000 Hz
Acceleration rate
500 Hz/2 ms
Present frequency
3,000 Hz
Time
SPED executed.
ACC executed.
0002.00
@SPED
#2
#1
#00000BB8
When CIO 0002.00 turns ON,
SPED starts a pulse output from
port 2 at 3,000 Hz (3 kHz) in
CCW continuous mode.
0002.01
@ACC
#2
#1
D00000
D00000 0
D00001 C
D00002 0
190
1
3
0
F
5
0
4
0
0
When CIO 0002.01 turns ON, ACC is
executed in mode 1 (CCW direction,
acceleration, and continuous mode) to
accelerate the frequency at 500 Hz/2 ms
to 50,000 Hz (50 kHz).
Acceleration rate
Target frequency
Section 7-6
Pulse Outputs
Note
The pulse output can be stopped by executing ACC(888) with a deceleration
target frequency of 0. However, since the pulse output cannot be stopped at
the correct number of pulses, the deceleration target frequency should not be
set to 0 if it is necessary to output a precise number of pulses.
Specified number of pulses
reached before speed reaches 0.
Speed
(frequency)
Speed reaches 0 while the remaining
number of pulses is 0 or more.
Speed
(frequency)
Time
0
Time
0
At this point, the actual number of output
pulses equals the preset number of pulses.
At this point, the actual number of output pulses
may not equal the preset number of pulses.
To be sure that the actual number of output
pulses equals the specified number of pulses,
set the Module so that the speed is greater
than 0 (e.g., the starting frequency) when the
specified number of pulses have been output.
Absolute Positioning with Continually Changing Target Position
This example performs absolute positioning (Electronic Cam Control) using a
single-phase pulse output without acceleration/deceleration, and the target
position is updated every cycle. This function relies on a constant cycle time,
in which the ladder program is executed every 2 ms, and positioning is performed using a target value that is changed every cycle according to the
high-speed counter PV.
The pulse output is controlled by the target position, which is calculated
repeatedly from the high-speed counter PV. The target position is calculated,
so the APR instruction can be used for linear approximation.
Pulse output target
frequency in D00000
and D00001 (BCD)
4,000
0
200
400
600
800
999
High-speed
Counter PV (BCD)
The high-speed counter is set for circular operation with a circular value of
999 BCD.
191
Section 7-6
Pulse Outputs
A610.00
P_On
Starts high-speed counter.
Always ON Flag
MOVL
&200000
D00002
Sets pulse output frequency to 200 kHz.
APR
Processes the high-speed counter 1 PV
with the linear approximation data in
D01000 to D01018 (the graph shown
above) and stores the result in D00000
and D00001.
P_On
D01000
A600
D00000
Always ON Flag
PULS
#1
#2
D00000
P_EQ
PULS
#1
#2
D00000
Equal Flag
END
192
Outputs an absolute position pulse
output using the content of D00000 and
D00001 as the target position and the
content of D00002 and D00003 as the
frequency.
When the PULS instruction's pulse output
was stopped and couldn't be output, the
pulse output is output again.
D00000
D00001
D00002
D00003
D01000
D01001
D01002
D01003
D01004
D01005
D01006
D01007
D01008
D01009
D01010
D01011
D01012
D01013
D01014
D01015
D01016
D01017
D01018
Target position (right digits)
Target position (left digits)
Frequency (right digits)
Frequency (left digits)
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
1
F
0
2
F
0
3
0
0
3
0
0
0
E
0
0
C
0
0
9
A
0
5
A
0
2
0
0
E
0
0
4
7
0
0
8
0
0
0
0
0
8
0
0
0
0
0
7
0
0
Input data: A600
(High-speed counter 1 PV)
No. of inputs = 5 − 1 = 4)
X6 (X-axis max. value) 999
Y0 0
X1 200
Y1 0
X2 400
Y2 4000
X3 600
Y3 4000
X4 800
Y4 0
X5 999
Y5 0
Section 7-6
Pulse Outputs
Using PLS2(887) for Trapezoidal Acceleration/Deceleration
In this example, the axis is accelerated in the CW direction at 500 Hz/2 ms,
the acceleration/deceleration rate is reduced to 300 Hz/2 ms, and the pulse
output is stopped after 300,000 pulses have been output.
After 5 s, the same trapezoidal acceleration/deceleration operation is performed in the CCW direction.
Port 1 CW Operation
Port 1 CCW Operation
Frequency
Target frequency
20,000 Hz
Specified number
of pulses: 300,000
Specified number
of pulses: 300,000
Acceleration rate
500 Hz/2 ms
Deceleration rate
300 Hz/2 ms
Deceleration rate
Acceleration rate
300 Hz/2 ms
500 Hz/2 ms
Starting frequency
500 Hz
Stopping
frequency 500 Hz
Time
Output starts when
PLS2 is executed.
Deceleration point
After 5 s, CCW output starts
Output stops and
when PLS2 is executed.
A624.00 is turned ON.
Target frequency reached.
5s
0003.00
0002.00
DIFU
0002.00
CIO 0002.00 is turned ON when
CIO 0003.00 turns ON.
@PLS2
When CIO 0002.00 goes ON, pulses
are output from port 1 in the CW
direction with the following settings:
Acceleration rate: 500 Hz/2ms
Deceleration rate: 500 Hz/2ms
Target frequency: 20,000 Hz (20 kHz)
Starting frequency: 500 Hz
Number of output pulses: 300,000
0002.02
#1
#0
D00000
0002.01
0002.
01
A624.00
TIM
0000
#0050
The 5 s timer starts if A624.00 is
ON (pulse output completed).
T0000
@PLS2
#1
#1
D00000
After the pulse output is completed
in the CW direction and 5 seconds
have passed, the same pulse output
pattern is performed in the CCW
direction.
0002.
02
T
T+1
T+2
T+3
T+4
T+5
T+6
T+7
Note
D00000
D00001
D00002
D00003
D00004
D00005
D00006
D00007
9
0
4
0
0
0
0
0
3
0
E
0
1
0
1
1
E
0
2
0
F
0
F
2
0
4
0
0
4
0
4
C
Number of output pulses
Target frequency
Starting frequency
Acceleration rate
Deceleration rate
When PLS2(887) cannot perform trapezoidal positioning with the trapezoidal
acceleration/deceleration settings, it will perform triangular positioning with
the same acceleration/deceleration settings. In this case, the PLS2(887) Tar-
193
Section 7-6
Pulse Outputs
get Frequency Not Reached Flag (A624.02 or A625.02) will turn ON at the
peak of the triangular pattern and turn OFF when deceleration is completed.
One-shot Pulse Output Function Example
In this example, STIM(980) is used to generate a 1.5-ms one-shot pulse output from pulse output 1.
0002.00
@STIM
#1
#000F
#0
When CIO 0002.00 goes ON, STIM generates a
1.5-ms one-shot pulse output from port 1.
Pulse Counter Time Measurement (Timer) Example
In this example, a pulse counter timer is allocated to pulse output 1.
0002.00
@STIM
#B
#0
#0
When CIO 0002.00 goes ON, STIM starts
pulse counter timer 1 (allocated to port 1).
0003.00
@STIM
#B
#1
#0
When CIO 0003.00 goes ON, STIM stops
pulse counter timer 1.
The measurement results are stored in
Auxiliary Area words A620 and A621.
7-6-15 Pulse Output Starting Conditions
Pulse Output Operation Modes Supported by Instruction
Pulse output
operation mode
Starting instruction
SPED(885) PULS(886) ACC(888) PLS2(887) STIM(980) STIM(980)
(with
(One-shot) (Timer)
output)
INI(880)
(Change
PV)
INI(880)
(Stop
pulse
output)
Relative pulse output OK
No
OK
OK
No
No
OK
(note 1)
OK
Absolute pulse output
(linear)
Absolute pulse output
(circular)
Electronic Cam Control (linear)
One-shot pulse mode
OK
No
OK
OK
No
No
OK
OK
OK
No
OK
No
No
No
OK
OK
No
OK
No
OK
OK
No
OK
(note 3)
No
No
No
OK
(note 2)
No
OK
No
OK
(note 1)
No
No
No
No
No
No
OK
OK
(note 1)
No
Electronic Cam Con- No
trol (circular)
OK
OK
(note 2)
OK
(note 3)
No
No
OK
OK
Pulse counter timer
Note
(1) Even if the PV is changed, it will start from 0 at startup.
(2) Supports continuous mode only.
194
Section 7-6
Pulse Outputs
(3) Use this function for positioning.
Allowed Startup Conditions for Pulse Output Operations (with Output Stopped)
The following table shows when an independent mode pulse output
(SPED(885) independent mode, ACC(888) independent acceleration mode,
or ACC(888) independent deceleration mode) can be started when pulses are
not being output.
Startup conditions and status
Relative
Absolute
linear
Absolute
circular
Startup mode and conditions
Relative
Relative
Absolute
Absolute
Absolute
pulse output pulse output linear CW linear CCW circular CW
CW
CCW
OK
---
OK
---
--OK
Target position <
Present position
---
---
Target position =
Present position
Target position >
Present position
Target position <
Present position
Target position =
Present position
---
---
OK with
SPED(885),
ACC(888)
Disabled
with
PLS2(887)
No
---
---
-----
Target position >
Present position
Absolute
circular
CCW
----OK with
--SPED(885),
ACC(888)
Disabled
with
PLS2(887)
---
-----
No
---
---
---
---
OK
OK
---
---
---
OK
OK
---
---
---
OK
OK
---
The following table shows when a continuous mode pulse output (SPED(885)
continuous mode, ACC(888) continuous acceleration mode, or ACC(888)
continuous deceleration mode) can be started when pulses are not being output..
Startup conditions and status
Startup mode and conditions
Relative
Relative
pulse output pulse output
CW
CCW
Relative
Absolute
linear
Absolute
circular
Target position =
Maximum value
Target position =
Minimum value
Target position =
Maximum value
Target position =
Minimum value
Absolute
linear CW
Absolute
Absolute
linear CCW circular CW
Absolute
circular
CCW
OK
---
OK
---
--OK
--OK
-----
-----
---
---
OK
OK
---
---
---
---
---
---
OK
OK
---
---
---
---
OK
OK
195
Section 7-6
Pulse Outputs
PULS(886) Absolute Pulse Output in Progress
Pulse Output Operation
Mode (Absolute Linear)
Limitations
PLS2(887)
Startup conditions and status
OK
OK
Startup mode and conditions
Pulse output direction
Absolute position priority
priority mode (A628.14 = 0)
mode (A628.14 = 1)
Absolute
Absolute
Absolute
Absolute
linear CW
linear CCW
linear CW
linear CCW
---------
---
---
OK
No
OK
OK
---
---
No
No
No
No
---
---
No
OK
OK
OK
Relative
CW
Relative
Absolute
linear
Target position >
Present position
Target position =
Present position
Target position <
Present position
Relative
CCW
Startup Conditions when other Instructions are being Executed
Operating instruction
Starting instruction
SPED(8 SPED(8
85) inde- 85) conpendent tinuous
PULS(8
86) relative,
without
output
PULS(88
6) absolute
without
output
PULS(88 ACC(888
6) abso- ) accelerlute with
ation,
output
continuous
ACC(888 ACC(888 ACC(888
) decel- ) acceler- ) deceleration,
ation,
eration,
continu- indepen- independent
dent
ous
PLS2(88
7)
SPED Independent
(885)
OK
No
No
No
No
No
No
OK
OK
No
SPED Continuous
(885)
OK (See
note 2.)
OK
OK
OK
No
OK
OK
OK (See
note 2)
OK (See
note 2)
No
PULS
(886)
No relative output
OK
OK
OK
---
No
OK
OK
OK
OK
(See
note 1)
PULS
(886)
No absolute output
OK
OK
---
OK
No
OK
OK
OK
OK
(See
note 1)
PULS
(886)
Relative output
No
No
No
No
OK
No
No
No
No
No
ACC(
888)
Acceleration +
continuous
Accelerating
No
No
OK
OK
No
No
No
No
No
No
Steady speed
OK (See
note 2)
OK
OK
OK
No
OK
OK
OK (See
note 2)
OK (See
note 2)
No
ACC(
888)
Deceleration +
continuous
Decelerating
No
No
OK
OK
No
No
No
No
No
No
Steady speed
OK (See
note 2)
OK
OK
OK
No
OK
OK
OK (See
note 2)
OK (See
note 2)
No
ACC(
888)
Acceleration +
independent
Accelerating
No
No
No
No
No
No
No
No
No
No
Steady speed
OK
No
No
No
No
No
No
OK
OK
No
ACC(
888)
Deceleration +
independent
Decelerating
No
No
No
No
No
No
No
No
Steady speed
OK
No
No
No
No
No
No
OK
OK
No
No
No
No
No
No
No
No
No
No
No
PLS2
(887)
Note
No
(1) Cancel the number of output pulses set with PULS(886) and then execute
PLS2(887).
(2) Execution is OK when the number of output pulses has been set.
Allowed Startup Conditions for Pulse Output Operations (with Output in Progress)
Operating instruction
Starting instruction
SPED(8 SPED(8
85) inde- 85) conpendent tinuous
PULS(8
86) relative,
without
output
PULS(88
6) absolute
without
output
PULS(88 ACC(888
6) abso- ) acceleration,
lute with
continuoutput
ous
ACC(888 ACC(888 ACC(888
) decel- ) acceler- ) deceleration,
ation,
eration,
continu- indepen- indepenous
dent
dent
SPED Independent
(885)
Case (1)
No
No
No
No
No
No
Case (8)
Case (11) No
SPED Continuous
(885)
Case (2)
Case (4)
Yes
Yes
No
Case (6)
Case (7)
Case (9)
Case (12) No
PULS
(886)
Yes
Yes
Yes
---
No
Yes
Yes
Yes
Yes
196
No relative output
PLS2(88
7)
(See
note.)
Section 7-6
Pulse Outputs
Operating instruction
Starting instruction
SPED(8 SPED(8
85) inde- 85) conpendent tinuous
PULS(8
86) relative,
without
output
PULS(88
6) absolute
without
output
PULS(88 ACC(888
6) abso- ) accelerlute with
ation,
output
continuous
ACC(888 ACC(888 ACC(888
) decel- ) acceler- ) deceleration,
ation,
eration,
continu- indepen- independent
dent
ous
PLS2(88
7)
PULS
(886)
No absolute output
Yes
Yes
---
Yes
No
Yes
Yes
Yes
Yes
(See
note.)
PULS
(886)
Absolute output
No
No
No
No
Case (5)
No
No
No
No
No
ACC(
888)
Acceleration +
continuous
Accelerating
No
No
Yes
Yes
No
No
No
No
No
No
Steady speed
Case (2)
Case (4)
Yes
Yes
No
Case (6)
Case (7)
Case (9)
Case (12) No
ACC(
888)
Deceleration +
continuous
Decelerating
No
No
Yes
Yes
No
No
No
No
No
Steady speed
Case (2)
Case (4)
Yes
Yes
No
Case (6)
Case (7)
Case (9)
Case (12) No
ACC(
888)
Acceleration +
independent
Accelerating
No
No
No
No
No
No
No
No
No
Steady speed
Case (3)
No
No
No
No
No
No
Case (10) Case (13) No
ACC(
888)
Deceleration +
independent
Decelerating
No
No
No
No
No
No
No
No
Steady speed
Case (3)
No
No
No
No
No
No
Case (10) Case (13) No
No
No
No
No
No
No
No
No
PLS2
(887)
Note
No
No
No
No
No
No
Cancel the number of output pulses set with PULS(886) and then execute
PLS2(887).
Cases (1), (2), and (3)
Output status
Starting instruction and conditions
SPED(885),
independent, relative
CW
Relative
CCW
CW
CCW
No
---
---
CCW output No
CW output
---
Yes
---
--Yes
--No
CCW output ---
---
No
Yes
CW output
Absolute linear or circular
SPED(885),
independent, absolute
(linear or circular)
Yes
Case (4)
Output status
Starting instruction and conditions
SPED(885),
continuous,
relative
CW
CCW
SPED(885),
continuous,
absolute linear
CW
CCW
SPED(885),
continuous,
absolute
circular
CW
CCW
Relative
CW output
CCW output
Yes
No
No
Yes
-----
-----
-----
-----
Absolute linear
CW output
CCW output
-----
-----
Yes
No
No
Yes
-----
-----
Absolute circular
CW output
CCW output
-----
-----
-----
-----
Yes
No
No
Yes
Case (5)
Output status
Absolute linear
CW output
CCW output
Starting instruction and conditions
PULS(886) absolute
PULS(886) absolute
linear output in
linear output in
progress
progress
Target position >
Target position <
Present position
Present position
Yes
Yes (See note.)
Yes (See note.)
Yes
197
Section 7-6
Pulse Outputs
Note
The pulse output will stop. After the axis stops, it must be restarted.
Cases (6), (8), (9), and (10)
• Starting instruction: ACC(888) (continuous or independent), acceleration, relative
Output status
Direction and starting conditions
CW
Target
Target
position > position <
Present
Present
position
position
Relative
CW output
CCW output
Yes
No
No
No
CCW
Target
Target
position > position <
Present
Present
position
position
No
Yes
No
No
• Starting instruction: ACC(888) (continuous or independent), acceleration, absolute
linear
Output status
Absolute linear
Direction and starting conditions
CW
CCW
CW output
Target
Target
Target
Target
position > position < position > position <
Present
Present
Present
Present
position
position
position
position
No
No
No
Yes
CCW output
No
No
Yes
No
• Starting instruction: ACC(888) (continuous or independent), acceleration, absolute
circular
Output status
Absolute circular
Direction and starting conditions
CW
CCW
CW output
Target
Target
Target
Target
position > position < position > position <
Present
Present
Present
Present
position
position
position
position
No
No
No
Yes
CCW output
No
No
Yes
No
Cases (7), (11), (12), (13)
• Starting instruction: ACC(888) (continuous or independent), deceleration, relative
Output status
Relative
Direction and starting conditions
CW
CCW
CW output
Target
Target
Target
Target
position > position < position > position <
Present
Present
Present
Present
position
position
position
position
No
Yes
No
No
CCW output
No
No
No
Yes
• Starting instruction: ACC(888) (continuous or independent), deceleration, absolute
linear
Output status
Absolute linear
198
Direction and starting conditions
CW
CCW
CW output
Target
Target
Target
Target
position > position < position > position <
Present
Present
Present
Present
position
position
position
position
No
Yes
No
No
CCW output
No
No
No
Yes
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
• Starting instruction: ACC(888) (continuous or independent), deceleration, absolute
circular
Output status
Absolute circular
7-7
7-7-1
Direction and starting conditions
CW
CCW
CW output
Target
Target
Target
Target
position > position < position > position <
Present
Present
Present
Present
position
position
position
position
No
Yes
No
No
CCW output
No
No
No
Yes
Functions for Servo Drivers Compatible with Absolute
Encoders
Applicable Models
Model
FQM1-MMP21
FQM1-MMA21
Functions
Motion Control Module for Pulse I/O
Motion Control Module for Analog I/O
The examples in this section demonstrate the functions with high-speed
counter 1 only. When using high-speed counter 2, replace the Auxiliary Area
addresses with the appropriate addresses for high-speed counter 2.
7-7-2
Overview
Either of the following types of pulse input signals can be input to the unit:
• Pulse trains from normal incremental encoders, etc.
• Encoder output data (e.g., OMRON's W Series) of Servo Drivers compatible with absolute encoders (multi-turns absolute encoders)
The following explains the functions that are compatible with the latter, Servo
Drivers compatible with absolute encoders.
Note
Refer to 7-5 Pulse Inputs for details on pulse train inputs from devices such as
normal incremental encoders
To input the encoder output data from a Servo Driver compatible with an
absolute encoder, the SEN output signal from the Motion Control Module has
to be connected to the Servo Driver. When starting an operation, the number
of multi-turns (to phase A as serial data) and the initial incremental pulse (to
phase A/B as pulse) are input once as the absolute position information.
After that, the position data during operations are input with the phase differential input (using normal counter functions).
Using a Servo Driver compatible with an absolute encoder enables the controlled operation to be started from the position at turning on the power without performing any origin searches.
199
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
Motion Control Module
Analog output
(Speed command)
Servo driver
−10 to 10 V, etc.
Pulse output
Position control,
(SPED, ACC,
PULS or PLS2
instruction)
Speed
control
SEN signal
Absolute
encoder data
Absolute encoder
signal (line driver)
Power cable
(U, V, W)
Servomotor
with Absolute encoder
7-7-3
Data Format of Absolute Encoder Output
The format of data from a Servo Driver compatible with an absolute encoder
supported by the Motion Control Module is as follows:
Serial Data Specification
The number of digits for rotation data
5 digits
Data transmitting method
Baud rate
Asynchronous
9,600 bits/s
Start bit
Stop bit
1 bit
1 bit
Parity
Character code
Even numbers
ASCII 7 bits
Data format
8 characters
Data Format
Byte
+0
P (See
note 1.)
Note
+1
+2
+3
+4
Rotation data
Sign
Integer (5-digit decimal)
(+ or −)
+5
+6
+7
CR
(1) The “P” is in ASCII. It is 50 hex in hexadecimal.
(2) The range of No. of rotations that can be received by the Motion Control
Module is between +65,535 to −65,535.
(3) For details of the data on the number of multi-turns received from a Servo
Driver, please check the manual of the Servo Driver in use.
(4) Set the System Setup’s Counter 1 Counter operation to either an absolute linear (CW−) or absolute linear (CW+) counter corresponding to the
setting of reverse rotation mode on the Servo Driver in use.
(5) When the mode where the data on the number of rotations is output only
in the + direction is set in the absolute encoder multi-turn limit setting, the
data received by the Motion Control Module is handled as described below according to the setting of Counter 1 Counter operation in the System
Setup.
200
Functions for Servo Drivers Compatible with Absolute Encoders
Section 7-7
• Example 1
A value between 0 and 65,534 is set in the Servo Driver, the System
Setup’s Counter 1 Counter operation is set to an absolute linear (CW−)
counter, and the Servo Driver’s reverse rotation mode setting
(Pn000.0) is set to 0 (+ command for rotation in CCW direction).
PV of +65,534
ABS PV is a positive value.
0
• Example 2
The System Setup’s Counter 1 Counter operation is set to an absolute
linear (CW+) counter and the Servo Driver’s reverse rotation mode setting (Pn000.0) is set to 1 (+ command for rotation in CW direction).
0
PV of −65,534
Note
7-7-4
ABS PV is a negative value.
When using an absolute linear (CW−) counter, the phase-B phase can be
inverted with an FQM1-series Servo Relay Unit so that the Servo Driver’s
operation matches the pulse output operation.
Counter Operation
Counting Operation
The counting operations performed in the absolute linear (CW−), absolute linear (CW+), and absolute circular counters are the same as the pulse input
function’s linear and circular counters. However, the normal linear counter
does not have the function that receives the rotation data stored in a Servo
Driver compatible with an absolute encoder.
Counter Operation
Details
The details of the absolute linear (CW−), absolute linear (CW+), and absolute
circular counters are as follows:
Absolute Linear (CW−)
Counter (CCW Rotation
for + Count)
When an absolute encoder rotates in reverse, the pulse information is
counted with a linear counter. Use this mode when the Servo Driver’s reverse
rotation mode parameter has been set to positive (+) command for CCW rotation.
Absolute Linear (CW+)
Counter (CW Rotation for
+ Count)
When an absolute encoder rotates forward, the pulse information is counted
with a linear counter. Use this mode when the Servo Driver’s reverse rotation
mode parameter has been set to positive (+) command for CW rotation.
201
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
Absolute Circular Counter
7-7-5
The absolute encoder’s pulse information is counted using a circular counter.
(Only the initial incremental pulse (angle) reading is used as the absolute
value.)
Absolute Number of Rotations PV (Counter 1: A604 and A605)
The multi-turn data (a present value read from an encoder) is input to the
Motion Control Module after the SEN signal is input to a Servo Driver. The
data is stored as the absolute number of rotations present value. The stored
value is determined by the following conversion formulae:
Absolute number of rotations PV (A604 and A605) = R × M
Number of initial incremental pulses (A600 and A601) = P0
M: Multi-turn data (meaning how many times the axis of a rotary encoder
rotated)
R (System Setup: ABS encoder resolution): The number of pulses for encoder's one revolution
(Absolute encoder's resolution set on Servo Driver x phase differential input multiplication of the Motion Control Module (System Setup: Counter 1
Input))
P0: The number of initial incremental pulses
Ps: Absolute offset
When the absolute number of rotations value is read, the number of initial
incremental pulses portion is stored in A600 and A601.
Reference position
(Absolute offset position)
0
+1
Absolute Number of Rotations Present Value
(A604 and A605) + P0 (A600 and A601)
Absolute encoder's position)
+2
+3
M
M×R
Ps
7-7-6
P0
Absolute Present Value
Absolute Present Value
The absolute present value is calculated by subtracting an absolute offset
from the absolute encoder's state (position) when the SEN signal was turned
ON.
The value is calculated using the following formulae and is used for the absolute present value preset function. It is not stored in the memory as data.
Absolute Linear
Counter
Absolute PV = Absolute number of rotations PV (A604 and A605) + Number
of initial incremental pulses (A600 and A601) − Ps
Ps: Absolute offset
Absolute Circular
Counter
202
Absolute PV = P0 − Ps
P0: The number of initial incremental pulses
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
Ps: Absolute offset
7FFF
0
Ps
Absolute encoder's
position
Reference position
(Absolute offset position)
Absolute Present Value
Note
7-7-7
P0
With an absolute circular counter, the absolute number of rotations present
value (A604/A605) is not used; only the initial incremental pulses are used.
The initial incremental pulses are the data of an amount treated as the angle
from an origin.
Absolute Present Value Preset
The absolute encoder's state (absolute number of rotations PV (in A604 and
A605) and the number of initial incremental pulses (in A600 and A601)) can
be reflected in high-speed counter present value 1 (A600 and A601). This
function is enabled by turning ON the Absolute Present Value Preset Bit
(A610.06). The absolute present value is stored in High-speed Counter
Present Value 1 (A600 and A601). Additionally, absolute present values vary
depending on the counter operation. See 7-7-6 Absolute Present Value for
details.
7-7-8
Absolute Offset Preset
The present value to be defined as an origin is obtained from the absolute
number of rotations present value (A604 and A605) at the time and the number of initial incremental pulses. The value can be stored in the absolute offset
(System Setup parameter). The value read from an absolute encoder at the
time is defined as a machine (application) origin. This function is executed by
turning ON the Absolute Offset Preset Bit (A610.05).
203
Functions for Servo Drivers Compatible with Absolute Encoders
7-7-9
Section 7-7
Related Areas
System Setup
Tab page
Pulse
Input
Function
Counter 1
Pulse input
mode
Details
0 hex: Phase differential x1
1 hex: Phase differential x2
2 hex: Phase differential x4
3 hex: Increment/decrement pulse input
4 hex: Pulse + direction
Counter reset
method
Counting Speed
0 hex: Software reset
1 hex: Phase Z and software reset
0 hex: 50 kHz
1 hex: 500 kHz
Counter opera0 hex: Linear counter
tion
1 hex: Circular counter
2 hex: Absolute linear (CW−)
3 hex: Absolute circular
4 hex: Absolute linear (CW+)
Counter data dis- 0 hex: Do not monitor
play
1 hex: Counter movements (mode 1)
2 hex: Frequency measurement (mode 2)
Sampling time
(for mode 1)
Counter 2
Pulse input
mode
Counter reset
method
Counting Speed
Counter operation
Counter data display
Sampling time
(for mode 1)
204
Note Frequency measurement can be set for
counter 1 only.
Sets the sampling time when the high-speed counter
PV is being measured (mode 1).
0000 hex: Cycle time
0001 to 270F hex: 1 to 9,999 ms (1-ms units)
Note This setting is used only when the Counter
Data Display parameter is set to 1 hex (mode
1).
The counter 2 parameters have the same functions
as the parameters for counter 1, above.
Note The Counter Data Display parameter cannot
be set to frequency measurement (2 hex).
Time when
setting
becomes
effective
At power ON
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
Tab page
Function
Pulse input Counter 1
Max. circular
value
Absolute
encoder resolution
(Number of input
pulses per
encoder revolution)
Counter 2
Counter 1
Counter 2
Max. circular
value
Details
Time when
setting
becomes
effective
When the counter operation is set to circular counter, At power ON
this parameter sets the maximum value in the circular counter.
Setting range: 0000 0001 to FFFF FFFF hex
0000 0001 to 0000 FFFF hex
Note Set the resolution considering the Servo
Driver's encoder dividing rate and the Motion
Control Module's pulse input multiplier setting.
Example:
Set the resolution to FA0 (4,000) when the Servo
Driver’s rate is 1,000 and the Motion Control Module’s multiplier is ×4.
The counter 2 parameters have the same functions
as the parameters for counter 1, above.
Absolute
encoder resolution
(Number of input
pulses per
encoder revolution)
Absolute offset
Setting range: 8000 0000 to 7FFF FFFF hex
This is the origin of the application when using an
absolute encoder.
Absolute offset
Always
The counter 2 offset has the same function as the
counter 1 offset, above.
Auxiliary Area
Word
Bits
Function
Details
A600
A601
00 to 15 High-speed Counter 1 PV
00 to 15
Counter range: 8000 0000 to 7FFF FFFF hex
(8 digits hexadecimal)
A602
A603
00 to 15 High-speed Counter 2 PV
00 to 15
Note In Linear Counter Mode, high-speed
counter PVs are checked for overflow
and underflow errors when the PVs are
read (at built-in I/O refresh for the Module).
A604
and
A605
00 to 15 High-speed Counter
Counter 1
operation
• Absolute
linear
(CW−)
• Absolute
circular
• Absolute
linear
(CW+)
Absolute
No. of
rotations
PV
Controlled
by
Motion Control Module
Multi-turn data (PV read from encoder) input to Motion Conthe Motion Control Module is stored here when trol Module
SEN signal is input to Servo Driver.
8000 0000 to 7FFF FFFF hex
(8-digit hexadecimal)
205
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
Word
A606
and
A607
A608
A609
Bits
Details
Controlled
by
Motion Control Module
00 to 15 High-speed Counter
Absolute
Counter 2
operation
No. of
• Absolute rotations
PV
linear
(CW−)
• Absolute
circular
• Absolute
linear
(CW+)
04
High-speed Absolute No. of RotaCounter 1
tions Read Error Flag
Status
05
Absolute No. of Rotations Read Completed
Flag
The same as for high-speed counter 1, except
that the high-speed counter frequency measurement cannot be performed.
12
Absolute Offset Preset
Error Flag
High-speed Absolute No. of rotaCounter 2
tions read error
Status
Absolute No. of rotations read completed
Absolute offset preset
error
An error occurred when storing the absolute
offset in the System Setup parameter area.
These flags have the same functions as the
ones for High-speed Counter 1 Status, above.
High-speed Absolute offset preset
Counter 1
Command
OFF:
No preset
Motion Control Module
OFF to ON: Offset obtained from multi-turn
data from Servo Driver and the
No. of initial incremental pulses
are stored as the absolute offset.
When defining machine origin, difference between machine and
encoder's origins is preset as the
absolute offset.
OFF:
Absolute PV preset invalid
OFF to ON: At this point, the absolute PV is
stored in high-speed counter PV 1
(A600 and A601).
04
05
12
A610
Function
05
06
Absolute PV preset
OFF: No error
Motion ConON: Error occurred
trol Module
OFF: Not reading or reading
ON: Reading completed (This is set at the
completion of receiving serial data on No.
of rotations.)
Motion Control Module
Note Refer to 7-7-6 Absolute Present Value
for details on the absolute PV.
07
Absolute No. of rotations read
OFF:
ON:
A611
05
06
07
206
High-speed Absolute Offset Preset
Counter 2
Absolute PV Preset
Command
Absolute No. of Rotations Read
No. of rotations data read from
Servo Driver invalid
At the rising edge of the signal,
SEN is output to Servo Driver, and
multi-turn data is received from
the phase A input.
These control bits have the same functions as Motion Conthe ones for High-speed Counter 1 Command, trol Module
above.
Functions for Servo Drivers Compatible with Absolute Encoders
Section 7-7
7-7-10 Overview of Absolute Encoder Output Data Acquire
Behavior of the Servo
Driver Compatible
with an Absolute
Encoder
1,2,3...
The SEN signal being turned ON, the Servo Driver behaves in the following
manner:
1. The Servo Driver transmits the state of the absolute encoder when the
SEN signal is turned ON.
The operation proceeds in the following order:
a. Transmits the multi-turn data (how many revolutions the axis of the rotary encoder made) with the serial communications.
b.
Transmits the initial incremental pulse (difference between present position and origin) with phase differential pulse output.
2. After transmitting the absolute value data, transmits the pulse train corresponding to the rotational displacement. (Transmits the same pulse as an
incremental encoder)
Absolute Encoder
Output Data
Acquiring Method
Use the following procedure to read the absolute encoder output data from a
Servo Driver to the Motion Control Module:
Step 1 (Required): Setting
Setting the Pulse Input Method
Set the pulse input method in the System Setup. Select one of the following 5
methods:
Phase differential ×1, ×2, or ×4, increment/decrement pulse input, or pulse +
direction. Set the pulse input method to a phase differential input.
Setting the Input Pulse Counting Speed
Set the input pulse counting speed to 500 kHz. To do so, set the input pulse
counting speed to 500 kHz in the System Setup.
Setting the Counter Operation
Set the Counter 1 Counter operation in the System Setup. Select one of the
following three counter operations for counting the encoder output.
• Absolute linear (CW−) counter
• Absolute linear (CW+) counter
• Absolute circular counter
Be sure to set the System Setup’s Counter 1 Counter operation so that it
agrees with the Servo Driver’s reverse rotation mode setting.
Setting the Absolute Encoder Resolution
Set absolute encoder resolution, which is the number of pulses received from
the Servo Driver for each revolution of the encoder.
Consider both the Servo Driver's encoder dividing rate setting and the Motion
Control Module's pulse input multiplier setting (with the System Setup’s pulse
input method setting). For example, set the resolution to FA0 (4,000) when the
Servo Driver’s rate is 1,000 and the Motion Control Module’s multiplier is ×4.
Step 2 (Required):
Acquiring the Encoder
Status when the SEN
Signal is Turned ON
Turn ON the Absolute Number of Rotations Read Bit (A610.07) from the ladder program. At this point, the SEN signal will go ON (high level). Leave the
SEN signal ON during operation, just like the RUN signal.
207
Functions for Servo Drivers Compatible with Absolute Encoders
Section 7-7
After a short time has passed to allow the Servo Driver's output to stabilize,
turn ON the High-speed Counter Start Bit (A610.00) from the ladder program.
The encoder's status (multi-turn data), which was acquired when the SEN signal was turned ON, is received as serial data. After the multi-turn data has
been received through serial communications, the Absolute Number of Rotations Read Completed Flag (A608.05) will go ON. If a reception error occurs
at this point, the Absolute Number of Rotations Read Completed Flag
(A608.05) and Absolute Number of Rotations Read Error Flag (A608.04) will
go ON and the received data will be discarded.
Step 3 (as Needed): Origin
Compensation (Absolute
Offset Preset)
When necessary, the absolute offset preset function can be used to set
encoder's present position as the origin.
Use the absolute offset preset function to store the present value that will
be defined as an origin as the absolute offset; the present value is
computed from the Absolute Number of Rotations PV (A604 and A605)
and the Number of Initial Incremental Pulses (A600 and A601).
To use the absolute offset preset function, turn ON the Absolute Offset Preset
Bit (A610.05).
Note
When performing origin compensation, set the absolute offset to 0 before
starting the origin compensation operation. Use the CX-Programmer’s System Setup to set the absolute offset to 0.
To use the absolute offset preset function, wait 30 to 62.5 ms after the Absolute Number of Rotations Read Completed Flag (A608.05) is turned ON and
then toggle (turn ON and then OFF) the Absolute Offset Preset Bit (A610.05).
Note
Be sure to perform the absolute offset preset operation before starting normal
Servo Driver pulse outputs. The Absolute Offset Preset Bit’s ON timing
depends on encoder's resolution, etc. Adjust as needed corresponding to the
system.
Step 4 (Required):
Absolute Present Value
Preset
Use the absolute present value preset function to store the absolute
present value in high-speed counter PV 1 (A600 and A601).
Step 5 (Required):
Operating Command to
Servo Driver
Turn ON the RUN Signal Output Bit (Servo Lock). Doing so will cause the
Servo Driver to start operating. At the same time, the Motion Control Module
will start receiving pulse trains and counting the number of pulses corresponding to Servo Driver’s rotational displacement.
Step 6 (Required):
Stopping Servo Driver
Turn OFF the RUN Signal Output Bit (Servo Lock). Doing so will stop the
Servo Driver. In addition, turn OFF the Absolute Number of Rotations Read
Bit (A610.07) and High-speed Counter Start Bit (A610.00). When these bits
are OFF, the Motion Control Module will stop counting the pulse trains.
208
To use the absolute present value preset function, toggle (turn ON and then
OFF) the Absolute PV Preset Bit (A610.06).
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
7-7-11 Timing Chart of the Functions for Servo Drivers Compatible with
Absolute Encoders
ON during 1 cycle
50 ms
Preset after 30 to 62.5 ms
Absolute No. of Rotations
Read (A610.07)
User program
processing
The high-speed counter
starts 50 ms after start of
the absolute No. of
rotations read.
Perform absolute PV preset
within 30 to 50 ms after the
read is completed.
High-speed Counter Start Bit
(A610.00)
Absolute PV Preset Bit
(A610.06)
RUN Signal Output Bit
Motion
Control
Module's
internal
processing
Absolute No. of Rotations
Read Completed Flag
Rotation data:
Signals from
Servo Driver
If the absolute No. of
rotations read was
successful, SEN output
stays ON.
SEN output
Phase A
Serial data (rotation data)
approx.15 ms
Phase B
Absolute Present value
Counter value is not changed
while reading rotation data.
Initial incremental pulses
The
latest
value
1 to 3 ms
Min: (50+60) ms
Typ: (50+90) ms
Max: (50+260) ms
30 to 62.5 ms
7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)
Program Description
1,2,3...
1. With the Motion Control Module set to MONITOR mode, turning ON
CIO 0000.01 (absolute origin define) presets the absolute origin as the absolute offset.
2. With the Motion Control Module set to MONITOR mode, turning ON
CIO 0000.00 (absolute servo operation start) presets the absolute present
value in A600 and A601.
209
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
000000
(000000)
0.00
SET
ABS servo
operation
start
ABS No. of
rotations
read
A610.07 SEN output ON
0.01
ABS origin
define
000001
(000003)
0.00
SET
2.00
ABS servo
operation start
000002
(000005)
Counter starts 50 ms after SEN output
A610.07
TIMH
ABS No. of
rotations
read
010
#5
SEN output
TIM010
See
note.
A610.00
Start highspeed counter
000003
(000009)
Preset the PV to the CNT 40 ms after reading ABS No. of rotations
1-Servo operation after completing ABS PV preset
2.00
Reading
ABS PV
A610.07
A608.05
A608.04
TIMH
011
ABS No. of ABS No. of ABS No. of
rotations
rotations
rotations
read error
read
read
completed
SEN output
#4
TIM011
DIFU
Preset A610.06
ABS PV
A610.06
Preset ABS
PV
000004
(000020)
See
note.
DIFD
Servo
operation
Servo operation
after completing
ABS PV preset
2.15
For ABS No. of rotations read error
2.00
Reading
ABS PV
A610.07
A608.05
A608.04
ABS No. of ABS No. of ABS No. of
rotations
rotations
rotations
read error
read
read
completed
SEN output
RSET
Read ABS
No. of
rotations
A610.07
SEN output OFF
RSET
Reading
ABS PV
Note
210
2.00
Adjust the timer value of TIMH(15) instruction (10 ms timer) to match to the
system requirements (such as the absolute encoder's resolution setting).
When more precision is required, use the TMHH(540) instruction (1 ms timer).
Section 7-7
Functions for Servo Drivers Compatible with Absolute Encoders
000005
(000026)
0.01
SET
ABS origin
define
2.01
ABS origin define
000006
(000028)
PV preset as ABS offset 40 ms after completing ABS No. of rotations read
2.01
A610.07
A608.05
A608.04
TIMH
ABS origin ABS No. of ABS No. of ABS No. of
define
rotations
rotations
rotations
read error
read
read
completed
SEN output
012
#4
TIM012
DIFU
ABS offset
preset
A609.05
A610.05
DIFD
ABS offset
preset
000007
(000039)
See
note.
2.14
For ABS No. of rotations read error
2.01
A610.07
A608.05
A608.04
ABS origin ABS No. of ABS No. of ABS No. of
define
rotations
rotations
rotations
read error
read
read
completed
SEN output
RSET
ABS No.
of rotations
read
SEN output OFF
A610.07
RSET
ABS origin
define
000008
(000045)
Servo operation after completing ABS PV preset
2.15
SET
Servo
operation
start
Servo operation
000009
(000047)
1.00
Clear "reading ABS PV" status after completing ABS PV preset
2.15
RSET
Reading
ABS PV
Servo operation
000010
(000049)
2.01
2.00
Clear "defining ABS origin" status after presetting ABS offset
2.14
RSET
Defining
ABS origin
2.01
END
000011
(000051)
Note
Adjust the timer value of TIMH(15) instruction (10 ms timer) to match the system requirements (such as the absolute encoder's resolution setting). When
more precision is required, use TMHH(540) instruction (1 ms timer).
211
Section 7-8
Virtual Pulse Output Function
7-8
7-8-1
7-8-2
Virtual Pulse Output Function
Applicable Models
Model
FQM1-MMP21
Functions
Motion Control Module for Pulse I/O
FQM1-MMA21
FQM1-CM001
Motion Control Module for Analog I/O
Coordinator Module
Overview
The AXIS instruction allows the execution of virtual pulse output with trapezoidal acceleration/deceleration.
The AXIS instruction executes the pulse output with trapezoidal acceleration/
deceleration internally. At the same time, AXIS internally integrates (counts)
the number of pulses (area) in the trapezoid.
With this function, the internal pulse count can be used in various applications
as a virtual axis position.
Example 1: Position/Speed Control Using a Virtual Axis (Electronic Cam
Operation)
The internal pulse count can be treated as a virtual axis in order to perform
electronic cam operation (position and speed control based on the virtual axis
angle) with curve approximation on the real axis operation using the positions
of the virtual axis as reference.
Motion Control Module
Internal pulse frequency
(Speed command)
Ladder program
Specified number of pulses =
Target position
AXIS
M
C
T
Target frequency
(Hz)
Time
Target position and
Target frequency
Pulse count
(Internal PV)
=
Virtual axis
Electronic cam operation by PULS
based on pulse count PV
Example 2: Locus Control Using a Virtual Axis (2-axis Synchronous
Control)
If internal pulse counts are treated as virtual reference axes, a synchronous
control operation such as elliptical locus control can be performed by executing synchronous output control (electronic cam operation) simultaneously on
two pulse outputs using the position and speed of the virtual axis.
Example 3: Semi-closed Loop Position Control with an Analog-input
Servo Driver
Semi-closed loop positioning can be performed with an analog-input Servo
Driver by creating a ladder program routine that controls an error counter
based on the internal pulse count and the feedback signal from the Servo
Driver.
212
Section 7-8
Virtual Pulse Output Function
7-8-3
AXIS Instruction (For Virtual Pulse Outputs)
Overview
The AXIS instruction is used to generate a virtual pulse output with trapezoidal acceleration/deceleration.
The operands for the AXIS instruction are a target position specified in pulses
or as an absolute position, and a target speed specified in pulses/s (Hz).
While the AXIS instruction’s input condition is ON, it internally generates the
specified number of pulses and integrates (counts) the number of pulses
(area) in the trapezoid.
Operands
AXIS
M (Mode Specifier)
M
M: Mode specifier
C
C: Calculation cycle
T
T: First word of setting table
Sets the output mode.
• #0000: Relative mode
• #0001: Absolute mode
C (Calculation Cycle)
Sets the calculation cycle.
• #0000: 2 ms calculation cycle
• #0001: 1 ms calculation cycle
• #0002: 0.5 ms calculation cycle
T (First Word of Setting Table)
Address
T
T+1
T+2
Bit 15
Bit 08
Bit 07
Bit 00
T+3 to T+4
Name
Description
Setting range
Internal pulse count The present value of internal
(8-digit hexadecimal) pulse counter is stored here.
Relative mode:
0000 0000 to FFFF FFFF
Absolute mode:
8000 0000 to 7FFF FFFF
Virtual pulse output
status
OFF:
ON:
OFF:
ON:
OFF:
ON:
Indicates whether or not the virtual pulse output has started.
Indicates the direction of virtual
pulse currently being output.
Indicates whether or not the virtual pulse output is being
counted.
Set/
monitored
Monitored
(Read)
Pulse output stopped
Pulse being output
CW
CCW
Pulse being counted
Target position reached
(Counting stopped)
Indicates whether or not the vir- OFF: Constant speed
tual pulse output is accelerating/ ON: Accelerating/decelerating
decelerating.
Present speed
The frequency of the virtual
(8-digit hexadecimal) pulse output is stored here.
0000 0000 to 000F 4240 hex
(0 to 1 MHz in 1-Hz units)
213
Section 7-8
Virtual Pulse Output Function
Address
Name
Description
Setting range
T+5 to T+6
Target position
Set the number of virtual output
(8-digit hexadecimal) pulses here.
Relative mode:
0000 0000 to FFFF FFFF
Absolute mode:
8000 0000 to 7FFF FFFF
T+7 to T+8
Target frequency
Set the target frequency of vir(8-digit hexadecimal) tual pulses here.
0000 0001 to 000F 4240 hex
(0 to 1 MHz in 1-Hz units)
T+9 to T+10
Starting frequency
Set the starting frequency of vir(8-digit hexadecimal) tual pulses here.
0000 0000 to 000F 4240 hex
(0 to 1 MHz in 1-Hz units)
T+11
Acceleration rate
(4-digit hexadecimal)
Deceleration rate
(4-digit hexadecimal)
Work area
0001 to 270F
(1 to 9,999 Hz, in 1-Hz units)
0001 to 270F
(1 to 9,999 Hz, in 1-Hz units)
T+12
T+13 to T+26
Description
Set the acceleration rate of virtual pulses here.
Set the deceleration rate of virtual pulses here.
Used by the system.
Set/
monitored
Set
(Read/
Write)
---
• Use the AXIS instruction with an input condition that is ON for one cycle.
AXIS cannot be used as a differentiated instruction (the @ prefix is not
supported).
• AXIS is executed at the rising edge of the input condition. If the input
remains ON, the virtual pulse output continues until the target position is
reached. Once the target position is reached, the virtual pulse output is
stopped. If the input condition goes OFF during the virtual pulse output,
the output stops at that point.
• The AXIS instruction’s mode specifier operand (M) specifies whether the
virtual pulse output operates in relative or absolute mode.
• In relative mode, the internal pulse counter initializes the internal pulse
count to 0 when AXIS is executed and starts incrementing from 0.
• In absolute mode, the internal pulse counter retains the internal pulse
count when AXIS is executed and starts incrementing or decrementing
from that existing pulse count.
• The internal pulse counts are refreshed every cycle at the interval specified in the calculation cycle (2 ms, 1 ms, or 0.5 ms) on the condition that
the cycle time is constant. If the specified calculation cycle time does not
match the execution cycle time, the time difference between the cycles
can cause an error in the count. If highly accurate pulse counts are
required, use the constant cycle time function and match the execution
cycle time and calculation cycle time. (Set the constant cycle time in the
System Setup’s Cycle Time Tab Page.)
• When trapezoidal control cannot be performed with the specified target
position, target frequency, and acceleration/deceleration, AXIS will automatically compensate as follows:
The acceleration and deceleration rates will be set to the same rate
(symmetrical trapezoidal control).
OR
When one-half of the specified target pulses have been output, AXIS
will start decelerating the operating axis at the same rate as acceleration (symmetrical triangular control).
Note When the AXIS instruction’s input condition goes OFF, the contents of setting
table words T+2 to T+4 will be initialized to 0.
214
Section 7-9
Analog Input Functions
7-8-4
Application Example
Positioning or Speed
Control Using a
Virtual Axis
The internal pulse count can be treated as a virtual axis position in order to
perform electronic cam operation on the real axis operation with simple curve
approximation.
First, the AXIS instruction is executed to generate an internal pulse count. The
internal pulse count is read at every cycle, that pulse count is processed with
basic arithmetic operations or the APR instruction, and the result is used as a
target position or target speed in the PULS(886) instruction. The PULS(886)
instruction (in electronic cam control) is executed immediately after the target
position or speed is calculated.
Internal pulse frequency
(Speed command)
Pulse count
(Virtual pulses)
Pulses generated
by AXIS
Target frequency
(Hz)
Time
Execution of AXIS
Time
Execute constant cycle time
Execution of PULS
(Changes target position
and speed.)
Pulse output PV (normal pulse output)
Target position
PULS (Electronic Cam
Mode) is executed in the
program with changed
target position and speed.
Time
Simple locus control can be performed by executing electronic cam control
simultaneously on both pulse outputs 1 and 2 using the same virtual axis as
above.
7-9
7-9-1
Analog Input Functions
Applicable Models
Model
FQM1-MMA21
7-9-2
Functions
Motion Control Module for Analog I/O
Overview
The FQM1-MMA21 Motion Control Module can input analog input signals at
high-speed (A/D conversion time: 40 µs).
One of five signal types for analog inputs can be selected: −10 to +10 V, 0 to
10 V, 0 to 5 V, 1 to 5 V, and 4 to 20 mA.
Analog input values are stored in the Motion Control Module’s Auxiliary Area
in A550. The stored input value is the analog input value read at END refreshing. It is also possible to adjust the analog input values.
215
Section 7-9
Analog Input Functions
The PRV(881) instruction can also be used to read the latest analog input
value through immediate refreshing. Analog signals can be input from pressure sensors, position meters, or sensors that require high-speed input processing such as a displacement sensors/end-measuring sensors.
Consequently, this function allows simple, low-cost pressure control, tension
control, or other control applications requiring high-speed mechanical measurement (distortion/thickness/length).
FQM1-MMA21
Motion Control Module
Sensor
(pressure, displacement, etc.)
A
Selected signal range:
−10 to +10 V, 0 to 10 V,
0 to 5 V, 1 to 5 V, or
4 to 20 mA
Immediate
refreshing
D
User program
PRV
High speed input
(A/D conversion time:
40 µs)
Stores the data
when instruction
is executed.
I/O memory
Note
216
The analog input responsiveness has been set relatively high to increase the
processing speed. The high responsiveness may result in input signal distortion by external noise or interference. Take steps to suppress noise if the
Motion Control Module is being used in an environment with a lot of noise.
When the Motion Control Module’s analog input value is being used, additional noise countermeasures can be added to the program such as using
END refreshing and filtering the input values with AVG instructions.
Section 7-9
Analog Input Functions
7-9-3
Analog Input Function Specifications
Item
Specification
Input signals
No. of analog inputs
Voltage inputs, current inputs
1 input
Input signal ranges
Select one of the following input ranges in the System Setup (Analog Input/Output
Tab Page − Input Setting): −10 to +10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, or 4 to 20 mA.
A/D conversion time
Input response time
40 µs
1.5 ms or less (See note.)
Resolution
−10 to +10 V:
0 to 10 V:
0 to 5 V:
1 to 5 V:
4 to 20 mA:
Analog input refresh method
Analog input value can be acquired by either of the following methods:
• END Refresh
Read the data from A550 in the Motion Control Module’s Auxiliary Area. (Data is
stored in A550 during END refreshing after execution of END instruction)
• Immediate Refresh
Read the present analog input value immediately by executing the PRV(881)
instruction.
Analog input value storage area
A550 of Motion Control Module’s Auxiliary Area
With the immediate refresh, the present analog input value can be acquired by executing the PRV(881) instruction.
Voltage input:
Current input:
Overall accuracy
Function
Offset/gain
adjustment
Note
1/16,000 (14 bits)
1/8,000 (13 bits)
1/4,000 (12 bits)
1/4,000 (12 bits)
1/4,000 (12 bits)
±0.2% (23 ±2°C)
±0.4% (23 ±2°C)
±0.4% (0 to 55°C)
±0.6% (0 to 55°C)
Input values can be adjusted to correct inputs suitable for the connected devices.
In PROGRAM mode, specify an offset or gain value, input the analog value from the
device (the value that will be corrected with the offset or gain value), and use the
CX-Programmer to monitor the adjustment value in the Adjustment Value Monitor
Area (A572 and A573).
It is also possible to monitor averaged offset or gain values. If averaging is required,
set the number of average value samples in A574.
The following diagram is provided as a reference example. This example
shows the input response (step response) characteristics of an input when the
external input signal is changed in a step pattern. In this case, the input range
is −10 to +10 V.
Response (%)
100%
80%
50%
0
0.5
1
1.5
Time (ms)
217
Section 7-9
Analog Input Functions
7-9-4
Related Areas and Settings
System Setup
Tab page
Analog Input/
Output
Function
Settings
Both inputs Input
and outputs method
0 hex:
1 hex:
END refresh
At power ON and
Immediate refresh (Refresh with PRV(881).) start of operation
Output
method
0 hex:
END refresh
(Content of A560 and A561 is output as
analog output after execution of END
instruction.)
Immediate refresh
(Analog output when SPED(885) or
ACC(888) is executed. A560 and A561
used for monitoring.)
−10 to 10 V
0 to 10 V
1 to 5 V (4 to 20 mA)
0 to 5 V
At power ON and
start of operation
−10 to 10 V
0 to 10 V
1 to 5 V
0 to 5 V
Disable outputs (See note.)
At power ON
1 hex:
Inputs
Input range 00 hex:
01 hex:
02 hex:
03 hex:
Outputs
Output
range
Outputs
218
Time when setting
becomes effective
00 hex:
01 hex:
02 hex:
03 hex:
5A hex:
Note Outputs can be disabled to shorten the I/O
refreshing time or reduce the Motion Control
Module’s power consumption.
Output stop 0 hex: Clear outputs
function
1 hex: Hold outputs
2 hex: Maximum value
Output
These parameters have the same settings as output
range
1, above.
Output stop
function
At power ON
Section 7-9
Analog Input Functions
Auxiliary Area
Word
Bits
Function
A550
00 to 15
Analog Input PV
A552
00
Analog Input
Status
Analog Input
01 to 06
07
08
09
Settings
Controlled
by
Contains the value input from the analog input port Motion
(using either the END refresh or immediate refresh) Control
in 4-digit hexadecimal.
Module
The PV range depends on the input range:
• 0 to 10 V:
FE70 to 20D0 hex
• 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
• −10 to 10 V:
DDA0 to 2260 hex
User Adjustment
OFF: Not adjusted
Completed
ON: Adjustment completed
Reserved
Analog Sampling
Started
Factory Adjustment
Data Error
OFF:
ON:
OFF:
ON:
Not started
Started
No Error
Error
(Checked at startup.)
User Adjustment
Data Error
OFF: No Error
ON: Error
(Checked at startup.)
10 to 14
15
Reserved
Analog Input
Status
A559
01 to 15
Analog Input
Status
Analog Input
A560
00 to 15
Analog Output 1 Output
Value
When an END refresh is selected, the 4-digit hexadecimal value set
here by the user is output from analog output port 1.
When immediate refreshing is selected, the 4-digit hexadecimal value
being output from analog output port 1 is stored here for monitoring.
The output value range depends on the output range, as shown below.
• 0 to 10 V, 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
• −10 to 10 V: EA84 to 157C hex
Note
1. Set the analog output method (END or immediate refreshing) with the
System Setup’s output method setting. A setting of 0 hex specifies an
END refresh. This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 1 setting.
A561
00 to 15
Analog Output 2 Output
Value
This word has the same settings as the analog output 1 output value
(A560), above. (When an END refresh is selected, set the value to output from analog output port 2. When an immediate refresh is selected,
the output value is stored here for monitoring.)
Note
1. Set the analog output method (END or immediate refresh) with the
System Setup’s output method setting. A setting of 0 hex specifies an
END refresh. This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 2 setting.
Analog Input
Analog Sampling
Overlap
OFF: Normal sampling
ON: The next sampling
operation occurred
before the present
sampling operation
completed.
Number of Samples Indicates the number of data
samples actually input since
sampling started.
--Motion
Control
Module
Motion
Control
Module
With immediate
refresh:
Motion
Control
Module
With END
refresh:
User
219
Section 7-9
Analog Input Functions
Word
A562
Bits
00
Function
Analog Output 1 Flags
User Adjustment
Completed
01 to 03
04
Reserved
Operating
05 to 07
08
Reserved
Output SV Error
Settings
Controlled
by
Initial value is 0.
Motion
Set to 1 if user performs offset/gain adjustment and Control
Returns to factory default setting of 0 if adjustment Module
value is cleared.
--ON: ON while the analog output is being changed Motion
by ACC(888).
Control
Module
OFF: Turned OFF when target value is reached.
ON:
ON when the output SV setting is outside of
the allowed setting range.
OFF: OFF when the output SV is within range.
--Motion
Control
Module
Note Only in End refresh mode
A563
09 to 11
12
Reserved
Factory Adjustment Value Error
ON:
13
14
Reserved
User Adjustment
Value Error
ON:
01 to 03
Reserved
User Adjustment
Completed
Reserved
--These flags have the same functions as the Analog Motion
Output 1 Flags, above.
Control
Module
04
05 to 07
Operating
Reserved
08
09 to 11
Output SV Error
Reserved
12
Factory Adjustment Value Error
13
14
Reserved
User Adjustment
Value Error
Reserved
15
00
15
220
Analog Output 2 Flags
--ON when the factory-set data stored in flash Motion
memory is invalid.
Control
Module
OFF: OFF when the factory-set data stored in
flash memory is normal.
ON when the user-set adjustment value
stored in flash memory is invalid.
OFF: OFF when the user-set adjustment value
stored in flash memory is normal.
--Motion
Control
Module
Section 7-9
Analog Input Functions
Word
A570
Bits
00
01
02
03
Function
Adjustment
Adjustment
Mode ComEnable
mand Bits
(Effective only
when A575 is
5A5A hex.)
Analog Input
Reserved
Analog Output 1
Analog Output 2
OFF: Adjustment disabled.
ON: Adjustment enabled.
When this bit is turned from
OFF to ON, the default value
(offset or gain value) corresponding to the selected I/O
signal range is transferred to
Adjustment Value Monitor
Area (A572 and A573).
Controlled
by
User
04 to 06
07
Reserved
Adjustment Mode
Specifier
OFF: Offset adjustment
ON: Gain adjustment
08 to 11
12
Reserved
Adjustment Value
Increment
Adjustment Value
Decrement
Adjustment Value
Clear
While this bit is ON, the offset or gain value will be Motion
incremented by one resolution unit each 0.5 s.
Control
While this bit is ON, the offset or gain value will be Module
decremented by one resolution unit each 0.5 s.
OFF to ON: Clears the adjustment data to the factory defaults.
13
14
15
A571
Settings
Adjustment Value
Set
OFF to ON: Reads the present value in the
Adjustment Value Monitor Area (A572
and A573) and saves this value to
flash memory. This adjustment value
will be used for the next normal mode
operation.
Adjustment Oper- ON when an operational error has been made,
Motion
ation Error
such as turning ON both the Analog Input and Ana- Control
log Output 2 Adjustment Enable Bits at the same
Module
time.
00
Adjustment
Mode Status
01 to 14
15
Reserved
Adjustment Mode
Started
Adjustment
Used for Analog
Mode Monitor Input and Analog
(Effective only Outputs 1/2
when A575 is
5A5A hex.)
A572
00 to 15
A573
00 to 15
A574
00 to 15
A575
00 to 15
User
Analog Inputs
Adjustment Mode Password
ON during adjustment mode operation (when A575
contains 5A5A hex).
Setting Offset Moni- The values in • −10 to 10 V:
tor
these words
FE0C to
can be over01F4 hex
written
• 0 to 10 V, 0
directly, withto 5 V, 1 to
out using the
5 V: FF38 to
Adjustment
00C8 hex
Value IncreGain Value Monitor
• −10 to 10 V:
ment/Decre1194 to
ment Bits.
157C hex
• 0 to 10 V, 0
to 5 V, 1 to
5 V: 0ED8 to
1068 hex
Number of Average Indicates the number of valValue Samples in
ues to be averaged to obtain
the Offset/Gain Value MoniAdjustment Mode
tor values in adjustment
mode. The number of samples can be set between
0000 and 0040 hex (0 to 64).
Set this parameter before
turning ON the Adjustment
Enable Bit.
5A5A hex: Adjustment mode enabled.
Other value: Adjustment mode disabled.
Motion
Control
Module or
User
User
User
221
Section 7-9
Analog Input Functions
7-9-5
Applicable Instructions
With END Refreshing
Read the analog input PV (A550) using an instruction such as the MOV
instruction.
With Immediate
Refreshing
The data is acquired immediately with the PRV(881) instruction.
(@) PRV
P
P: Output port (#0003: Analog input)
C
D
7-9-6
C: Control specification (#0000: Present value read)
D: Present value storage first word
A/D Conversion Value
When a signal is input that exceeds the allowed ranges indicated below, the
conversion value will be processed as it is. However, inputting out-of-range
signals may result in hardware failure or system malfunction, so do not input
out-of-range signals.
Note
Signal Range: −10 to
10 V
If a voltage exceeding the input voltage limits is input, the conversion value
will be either the upper or lower limit value.
Analog input (V)
+11.0 V
+10.0 V
0.0 V
−10.0 V
−11.0 V
0000
E0C0
DDA0
Stored value
(4-digit Hexadecimal)
1F40
2260
Resolution of 1/16,000
Signal Range: 0 to 10 V
Analog input (V)
+10.5 V
+10.0 V
−0.0 V
−0.5 V
0000
FE70
1F40
20D0
Resolution of 1/8,000
222
Stored value
(4-digit Hexadecimal)
Section 7-9
Analog Input Functions
Signal Range: 1 to 5 V and 4 to 20 mA
Analog input (V)
Analog input (mA)
+20.8 mA
+20.0 mA
+5.2 V
+5.0 V
+4.0 mA
+3.2 mA
+1.0 V
+0.8 V
0000
FF38
0FA0
1068
Stored value
(4-digit Hexadecimal)
Resolution of 1/4,000
Signal Range: 0 to 5 V
Analog input (V)
+5.25 V
+5.00 V
0V
−0.25 V
0000
Stored value
(4-digit Hexadecimal)
0FA0
FF38
1068
Resolution of 1/4,000
7-9-7
High-speed Analog Sampling (FQM1-MMA21 Only)
Overview
When an FQM1-MMA21 Motion Control Module is being used, the Motion
Control Module can be synchronized with pulse inputs from the encoder to
collect analog data.
This sampling method checks measurements in synchronization with the
position, an operation which could not be performed with scheduled interrupts
in earlier controllers.
When the CTBL(882) instruction is used as a high-speed analog sampling
function, the Motion Control Module can start sampling analog input data at
high speed when a preset counter PV is reached, and store the specified
number of samples automatically in the DM Area.
This function can be used with high-speed counter 1 only.
CTBL(882) Instruction
Operation
The CTBL(882) instruction starts a specified interrupt task when the
high-speed counter PV of pulse input 1 matches a specified target value.
If the CTBL(882) instruction is executed in the interrupt task to perform
high-speed analog sampling, the Motion Control Module will sample analog
values at the interval (circular counter size) specified by the CTBL(882)
instruction.
223
Section 7-9
Analog Input Functions
Once the sampling of analog input values starts, the number of values specified with the circular value (up to 32,767 samples) are stored in the DM Area
beginning at the specified DM address. The sampling operation will be completed when the specified number of samples are all stored in the DM Area.
CTBL(882) with High-speed Analog Sampling Function
CTBL
P
M
S
S
P: Port specifier (#0003)
M: Register target value comparison table and start comparison.
S: Target value comparison table
Target value
S+1
S+2
S+3
8-digit hex
First word of data sample storage area 0000 to 7FFF hex
(DM Area address)
Number of data samples
0000 to 7FFF hex
Example
CTBL
#3
#0
D00000
Sampling counter: #3
Register target value comparison table and start comparison.
Start of comparison table
Comparison Table
D00000
D00001
D00002
D00003
Target value (rightmost 4 digits)
Target value (leftmost 4 digits)
Data sample storage area
Number of data samples
0000 hex
0000 hex
00C8 hex (200 decimal)
0064 hex (100 decimal)
FQM1-MMA21 Motion Control Module (for Analog Inputs)
Pulse input
High-speed counter 1
Counter PV
Sampling counter
0000 0000 hex
Target
value
0000 0000 hex
Start sampling
Sample storage area
Analog input
D00200
D00201
D00202
D00299
Application Example
Creating Displacement Data from a Particular Workpiece Position
In this example, operation is synchronized to the measurement position of a
workpiece (such as a sheet of glass) and the Motion Control Module collects
displacement data from an analog output sensor. Displacement is measured
at several measurement points.
1,2,3...
1. When the workpiece has reached the measurement point, the CTBL(882)
instruction is executed and an interrupt will be generated for the
high-speed counter PV (linear counter).
2. Another CTBL(882) instruction (using the CTBL(882) instruction’s
high-speed analog sampling function) is executed in that interrupt task.
When the High-speed counter PV (circular counter) reaches the preset value, the Motion Control Module collects the specified number of high-speed
analog input data samples from a displacement sensor.
224
Section 7-10
Analog Outputs
3. The high-speed analog sampling function stops when the specified number of high-speed analog input data samples have been collected.
The following diagram shows how this method can be used to collect displacement data from a particular workpiece position.
FQM1-MMA21 Motion Control Module
(for analog inputs)
Main program
@CTBL
P
Generates target value comparison
interrupts for the high-speed
counter PV (linear counter).
Origin reached
4 to 20 mA
Interrupt started
Sampling positions and collection of
sampled displacement data (analog)
Interrupt task
Displacement
sensor
Pulse input
(position)
Analog input sampling start points
CTBL
P
M
S
Performs analog sampling based on
target value comparisons with the
high-speed counter PV (circular counter).
Comparison table starts at S.
Displacement
S
S+1
S+2
S+3
High-speed
travel
Analog input sampling
position
Data sample storage area
Number of data samples
Encoder
Origin
Origin
Origin
Linear counter
Circular counter
Analog input
sampling
The sampled data can be processed to calculate and store the average, maximum, and minimum values in multiple ranges specified. A judgement output
can also be generated.
7-10 Analog Outputs
7-10-1 Applicable Models
Model
FQM1-MMA21
Functions
Motion Control Module for Analog I/O
7-10-2 Outline
The FQM1-MMA21 Motion Control Module can generate analog output signals for two ports. Each output can be set independently to one of four signal
types: −10 to +10 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V.
Normally, the analog values stored in A560 and A561 are output cyclically
during END refreshing, but the outputs values can also be immediately
refreshed with the SPED(885) instruction for step-pattern outputs or the
ACC(888) instruction for sloped outputs.
225
Section 7-10
Analog Outputs
7-10-3 Analog Output Function Specifications
Analog Outputs
Item
Specification
Output signals
Number of analog outputs
Voltage outputs
2 outputs
Output ranges
Select each output’s signal range in the System Setup (Analog Input/Output Tab Page,
Output 1 Setting and Output 2 Setting):
–10 to 10 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V
D/A conversion time
Resolution
40 µs/output
–10 to 10 V: 1/10,000 (14-bit value between EC78 and 1388 hex)
0 to 10 V, 0 to 5 V, or 1 to 5 V: 1/4,000 (12-bit value between 0000 and 0FA0 hex)
Set the refresh timing of analog output values in the System Setup (Analog Input/Output Tab Page − Output):
• END refresh
• Immediate refresh (executing SPED(885) or ACC(888))
END refreshing
The values in A560 and A561 are output as the analog output 1 and
2 output values.
Immediate
The specified analog value is output when SPED(885) or ACC(888)
refreshing by
is executed in the program.
instructions
• SPED(885): Changes analog output value in a step pattern.
• ACC(888): Changes analog output value with a slope. (Value
changes every 2 ms.)
Note
1. Analog output values can also be controlled from interrupt subroutines.
2. The setting in the analog output stop function determines the analog output value from startup until execution of an instruction that
controls the analog output.
• With END refreshing, the analog output values are specified in A560 and A561.
• With immediate refreshing by instructions, the analog output values are specified in
the instruction’s operands.
–10 to 10 V
EC78 to 1388 hex (–5,000 to 5,000 decimal) (resolution: 10,000) corresponding
to 0% to 100% voltage (–10 to 10 V)
The possible setting range is actually EA84 to 157C hex (–5,500 to 5,500 decimal) corresponding to –5% to 105% voltage (–11 to 11 V)
0 to 10 V, 0 to 5 V, or 1 to 5 V:
0000 to 0FA0 hex (0 to 4,000 decimal) (resolution: 4,000) corresponding to 0% to
100% of the FS range. (Actually, the setting range is FF38 to 1068 (–200 to 4,200
decimal) corresponding to –5% to 105% voltage (–0.5 to 10.5 V, –0.25 to 5.25 V,
or 0.8 to 5.2 V).)
Analog output 1: A560; Analog output 2: A561
• With END refreshing, the contents of these words can be changed to change the analog output values that are output externally.
(The actual output value may be different from the stored value if the output stop function is being used to clear the output or output the maximum value.)
• With immediate refreshing by instructions, the value being output by SPED(885) or
ACC(888) is stored in these words for monitoring when SPED(885) or ACC(888) is
executed. If the hold function is being used, the values output by the hold function are
stored for monitoring.
2.4 mA
Analog output refresh method
Analog output values
Analog output value storage
locations
Max. external output current
Overall accu23 ±2°C
racy (See note 0 to 55°C
1.)
226
±0.3% of FS
±0.5% of FS
Section 7-10
Analog Outputs
Functions
Item
Slope
Specification
The ACC(888) instruction can be used to change the analog output value at the following rates:
–10 to 10 V: 0000 to 2AF8 hex (0 to 11,000 decimal)
0 to 10 V, 0 to 5 V, or 1 to 5 V: 0000 to 1130 hex (0 to 4,400 decimal)
Output hold
Offset/gain
adjustment
Note
The output stop function will clear the output, hold it at the peak value, or hold it at the
current value in the following cases.
• One of the Analog Output SV Error Flags is ON. (A562.08 is the flag for output 1 and
A563.08 is the flag for output 2.) (Only when end refresh is selected.)
• A fatal error (other than a Motion Control Module WDT error or flash memory adjustment data error) occurred in the Motion Control Module. (See note 2.)
• The other analog output is being adjusted in adjustment mode.
The output values can be offset as required for the connected device.
In adjustment mode, the offset or gain can be changed by turning ON the Adjustment
Enable Bit (A570.00 for the analog input, A570.01 for analog output 1, or A570.02 for
analog output 2), specifying the offset or gain value, and turning ON the Increment or
Decrement Bit from the CX-Programmer.
• Offsets:
–10 to 10 V: FE0C to 01F4 hex
0 to 10 V, 0 to 5 V, or 1 to 5 V: FF38 to 00C8 hex
• Gain values: –10 to 10 V: 1194 to 157C hex
0 to 10 V, 0 to 5 V, or 1 to 5 V: 0ED8 to 1068 hex
(1) The overall accuracy is the ratio of accuracy to the full scale.
(2) The following table shows the status of the analog outputs if there is a fatal error in the Motion Control Module or the Coordinator Module is in
CPU standby status.
Condition
WDT error in Motion Control Module
Analog output
Output near 0 V (0 V output
without offset adjustment).
• Flash memory adjustment data error in
Motion Control Module (flash memory error or
adjustment data error indicated in Auxiliary
Area)
• CPU standby error in Coordinator Module
Another fatal error in the Motion Control Mod- The output status specified by
ule (such as flash memory errors not listed
the hold function (clear, peak,
above, FALS, etc.)
or hold) will be output.
If there is an error in the System Setup settings for the analog output function (Analog Input/Output), the following settings will be used.
Output range:
– 10 to 10 V
Output stop function: Clear
Refreshing method: END refresh
227
Section 7-10
Analog Outputs
Specified Output Values and Analog Output Signals
−10 to 10 V
0 to 10 V
Analog output signal
Analog output signal
10.5 V
10.0 V
+11.0 V
+10.0 V
0.0 V
−10.0 V
−11.0 V
0.0 V
−0.5 V
Specified output value
(4-digit Hex)
0000
EC78
EA84
1388
Resolution: 10,000
0000
FF38
157C
0 to 5 V
Specified output value
(4-digit Hex)
0FA0
Resolution: 4,000
1068
1 to 5 V
Analog output signal
Analog output signal
5.25 V
5.0 V
5.2 V
5.0 V
0.0 V
−0.25 V
1.0 V
0.8 V
0000
FF38
0FA0
Resolution: 4,000
1068
Specified output value
(4-digit Hex)
0000
FF38
0FA0
Resolution: 4,000
1068
Specified output value
(4-digit Hex)
7-10-4 Applicable Instructions
END Refreshing
Set the analog output values in A560 and A561 using an instruction such as
the MOV instruction.
With Immediate
Refreshing
Outputs can be controlled with SPED(885) and ACC(888) as outlined below.
SPED(885) can be used to change the output value in steps.
(@) SPED
P
#0000
F
228
P: Port specifier
(#0001 for analog output 1 or #0002 for analog output 2)
M: Always #0000
F: Analog output value
Section 7-10
Analog Outputs
F: Analog output value
Specifies the target analog output value as a 4-digit hexadecimal value.
Note
– 10 to 10 V
EA84 to 157C hex (–5,500 to 5,500 decimal, resolution:
11,000)
0 to 10 V, 0 to 5 V,
1 to 5 V
FF38 to 1068 hex (–200 to 4,200 decimal, resolution: 4,400)
The specified analog output value must be within the allowed range listed
above. If an out-of-range output value is specified, an error will occur and it
will be necessary to switch to PROGRAM mode in order to output the analog
output again.
ACC(888) can be used to generate a rising or falling analog output value
(@) ACC
P
#0000
P: Port specifier
(#0001 for analog output 1 or #0002 for analog output 2)
M: Always #0000
T
T = Rate of change, T+1 = Analog output target value
T = Rate of Change (4-digit hexadecimal)
T contains the rate of change (slope) per 2 ms.
–10 to 10 V
0 to 10 V, 0 to 5 V or 1 to 5 V
0000 to 2AF8 hex (0 to 11,000 decimal)
0000 to 1130 hex (0 to 4,400 decimal)
T+1 = Analog Output Target Value
T+1 is set to the target analog output value as a 4-digit hexadecimal value.
Note
–10 to 10 V
EA84 to 157C hex
(–5,500 to 5,500 decimal, resolution: 11,000)
0 to 10 V, 0 to 5 V or 1 to 5 V
FF38 to 1068 hex
(–200 to 4,200 decimal, resolution: 4,400)
ACC(888) and SPED(885) cannot be used to change the analog output value
while ACC(888) is generating a sloped output. Change the output value only
after the target value has been reached.
7-10-5 Procedure
1,2,3...
1. Determine the analog output range, number of outputs, refreshing method,
and instructions that will be used.
2. Wire the analog output.
3. Make the necessary System Setup settings (output method).
• Set the analog output range (−10 to +10 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V).
• Set the output stop function (clear, peak value, or hold).
• Set the analog output refreshing method (END refresh or immediate
refresh).
4. Create the necessary ladder programming.
• Set the output value in A560 or A561 with an instruction such as MOV.
• Execute SPED(885) or ACC(888).
229
Section 7-10
Analog Outputs
7-10-6 Application Example
Outputting the Analog
Output Value Stored
in the Auxiliary Area
In this example, the Motion Control Module outputs the analog output value
stored in A560 from analog output 1.
Set the following System Setup settings:
• Analog Input/Output Tab Page − Output 1: Set the output range of analog
output 1 to “1 to 5 V.”
• Analog Input/Output Tab Page − Output: Set the analog output refreshing
method to END refresh.
0002.01
@MOV
#1000
A560
SET
A564.00
Outputting a Stepped
Analog Output
When CIO 0002.01 goes ON, MOV
stores 1000 hex in A560 (Analog
Output 1 Output Value).
Turns ON A564.00 (Analog Output 1
Conversion Enable Bit).
In this example, the Motion Control Module outputs a step-pattern analog output using a particular input signal as the trigger.
Set the following System Setup settings:
• Analog Input/Output Tab Page − Output 1: Set the output range of analog
output 1 to “1 to 5 V.”
• Analog Input/Output Tab Page − Output: Set the analog output refreshing
method to immediate refresh.
0002.01
@SPED
#0001
#0000
D00000
D00000
Outputting a Sloped
Analog Output
0
3
E
8
When CIO 0002.01 goes ON, SPED is
executed to output a stepped analog
signal from analog output port 1, with an
output range of 1 to 5 V, and an analog
output value of 03E8 hex (25% = 2 V).
Specified analog output value = 03E8 hex
(1,000 decimal = 25%)
In this example, the Motion Control Module outputs a sloped analog output
using a particular input signal as the trigger.
Set the following System Setup settings:
• Analog Input/Output Tab Page − Output 1: Set the output range of analog
output 1 to “1 to 5 V.”
• Analog Input/Output Tab Page − Output: Set the analog output refreshing
method to immediate refresh.
0002.01
@ACC
#0001
#0000
D00000
230
D00000
0
1
9
0
D00001
0
7
D
0
When CIO 0002.01 goes ON, ACC is
executed to output a sloped analog
signal from analog output port 1, with an
output range of 1 to 5 V, an analog output
target value of 07D0 hex (50% = 3 V), and
slope of 0190 hex (10% = 0.4 V) every 2 ms.
Rate of change: 0190 hex
(400 decimal = 10%)
Specified analog output value = 07D0 hex
(2,000 decimal = 50%)
Analog Outputs
Section 7-10
231
Analog Outputs
232
Section 7-10
SECTION 8
Connecting the CX-Programmer
This section explains how to connect a personal computer running the CX-Programmer to the FQM1.
8-1
8-2
CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
234
Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
235
8-2-1
System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
235
8-2-2
CX-Programmer Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . .
238
233
Section 8-1
CX-Programmer
8-1
CX-Programmer
Connect the CX-Programmer Support Software to the Coordinator Module to
create and monitor programs for all Modules. While monitoring the ladder programs in Motion Control Modules, it is possible to input operation conditions
for monitoring the I/O of the Coordinator Module, and to debug programs.
The FQM1 Patch Software is required to create the FQM1 ladder program,
make System Setup settings, and monitor or debug operation.
The FQM1 Patch Software must be installed for the CX-Programmer Ver. 5.0
(Model: WS02-CXPC1-E-V50). It cannot be installed for the CX-Programmer
Ver. 4.0 or earlier. To connect the FQM1 and a personal computer, use the
cables shown in the following table.
Name
Programming Device
Connecting Cables
(for peripheral port)
Programming Device
Connecting Cables
(for RS-232C port)
Model
CS1W-CN118
Specifications
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin receptacle (converts between RS-232C and peripheral communications)
(Length: 0.1 m)
CS1W-CN226
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 2.0 m)
CS1W-CN626
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 6.0 m)
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 2.0 m), Static-resistant connector used.
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 5.0 m), Static-resistant connector used.
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 2.0 m) (see note)
XW2Z-200S-CV
XW2Z-500S-CV
XW2Z-200S-V
USB-Serial Conversion Cable
XW2Z-500S-V
Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 5.0 m) (see note)
CS1W-CIF31
USB to D-Sub 9-pin conversion cable
(Length: 0.5 m)
Note
These RS-232C Connecting Cables cannot be used to connect to the CXProgrammer with Peripheral Bus communications. Connect to the CX-Programer with Host Link (SYSMAC WAY) communications.
!Caution Never connect a PLC Programming Console (such as the C200H-PRO27) to
the Coordinator Module’s peripheral port. The FQM1 may malfunction if a
PLC Programming Console is connected.
234
Section 8-2
Connecting the CX-Programmer
8-2
Connecting the CX-Programmer
8-2-1
System Configuration
Connecting a Personal Computer Running Support Software
Connecting to the Peripheral Port
RS-232C
Connecting Cables for Peripheral Port
Length Computer connector
Computer Cable
0.1 m
D-Sub, 9-pin
Windows CS1W-CN118 (See note 1.)
2.0 m
OS
D-Sub, 9-pin
CS1W-CN226
6.0 m
CS1W-CN626
D-Sub, 9-pin
CM
Computer
(RS-232C, 9-pin)
MM
Peripheral port
Note 1.
The CS1W-CN118 Cable is used with an RS-232C cable to connect to the peripheral port on the
Coordinator Module as shown below. Peripheral bus communications cannot be used if the CS1W-CN118
Cable is combined with an RS-232C Cable that has a model number ending in -V. In this case, Host Link
(SYSMAC WAY) communications must be used.
RS-232C Cable
XW2Z-@@@S-@@
(See note 2.)
CS1W-CN118
CM MM
Peripheral port
2.
Host Link (SYSMAC WAY) communications cannot be used. Use peripheral bus communications.
Connecting to the RS-232C Port
RS-232C Cable
XW2Z-200S-CV or XW2Z-200S-V: 2 m
XW2Z-500S-CV or XW2Z-500S-V: 5 m
Computer
(RS-232C, 9-pin)
CM
MM
RS-232C port
Note The XW2Z-200S-CV and XW2Z-500S-CV use static-resistant
connectors and can be connected through peripheral bus or Host
Link communications. The XW2Z-200S-V and XW2Z-500S-V,
however, can only be connected through Host Link, not through
peripheral bus.
Programming Software
OS
Microsoft Windows
Note
Name
CX-Programmer Version 5.0 or higher only
(See note.)
CD-ROM
When the CX-Programmer is used with an FQM1, the CX-Programmer version must be Version 5.0 or higher and the FQM1 Patch Software must be
installed.
235
Section 8-2
Connecting the CX-Programmer
Connecting through the USB port with a USB-Serial Conversion Cable
Connecting to the Peripheral Port
Cable
Connection Diagram
Using a CS1W-CN226/626
Cable
USB type A plug, male
CS1W-CIF31
D-sub Connector
(9-pin male)
CS/CJ-series peripheral connector
Peripheral port
D-sub Connector
(9-pin female)
Recommended cable:
CS1W-CN226/626
Using an RS-232C Cable
(XW2Z-200S-CV, XW2Z500S-CV, XW2Z-200S-V, or
XW2Z-500S-V)
USB type A plug, male
CS1W-CIF31
D-sub Connector
(9-pin male)
CS1W-CN118
D-sub Connector
D-sub Connector (9-pin male)
(9-pin female)
XW2Z-200S-CV, XW2Z-500S-CV,
XW2Z-200S-V, or XW2Z-500S-V
(See note.)
Peripheral port
D-sub Connector
(9-pin female)
Note The connection must be a Host Link connection.
236
Section 8-2
Connecting the CX-Programmer
Connecting to the RS-232C Port
Cable
Using an RS-232C Cable
(XW2Z-200S-CV, XW2Z500S-CV, XW2Z-200S-V, or
XW2Z-500S-V)
Connection Diagram
USB type A plug, male
CS1W-CIF31
D-sub Connector
(9-pin male)
D-sub Connector
(9-pin male)
RS-232C port
D-sub Connector
(9-pin female)
D-sub Connector
(9-pin female)
XW2Z-200S-CV, XW2Z-500S-CV,
XW2Z-200S-V, or XW2Z-500S-V
(See note.)
Note The connection must be a Host Link connection.
Connection Methods (Using a USB-Serial Conversion Cable)
Computer
CS1W-CIF31
Cable #1
Cable #2 (when necessary)
CS1W-CN226/626
Connecting Cable for
CS/CJ-series peripheral port
CS1W-CN118 RS-232C to
CS/CJ-series Peripheral
Conversion Cable
USB Connecting
Cable
+
OR
FQM1
+
XW2Z-@@@ RS-232C
Connecting Cable
237
Section 8-2
Connecting the CX-Programmer
USB
Cable 1
Cable 2
Connecting Connector
Model
Connector Connector
Model
Cable
CS1F-CIF31 D-Sub 9-pin CS1WCS/CJ
Unnecessary
female
CN226/626 peripheral
(2 or 6 m)
8-2-2
Port
Connector
Coordinator
Module
peripheral
D-Sub 9-pin XW2Zfemale
200S-CV/
500S-CV
(2 or 5 m)
D-Sub 9-pin XW2Zfemale
200S-V/
500S-V
(2 or 5 m)
D-Sub 9-pin D-Sub 9-pin CS1Wmale
female
CN118
(0.1 m)
CS/CJ
peripheral
D-Sub 9-pin D-Sub 9-pin CS1Wmale
female
CN118
(0.1 m)
CS/CJ
peripheral
D-Sub 9-pin XW2Zfemale
200S-CV/
500S-CV
(2 or 5 m)
D-Sub 9-pin XW2Zfemale
200S-V/
500S-V
(2 or 5 m)
RS-232C
Unnecessary
D-Sub 9-pin
male
Communic
ations
mode
Peripheral
bus (Tool
bus) or
Host Link
Peripheral
bus (Tool
bus) or
Host Link
Host link
RS-232C
D-Sub 9-pin
female
RS-232C
Unnecessary
D-Sub 9-pin
male
Peripheral
bus (Tool
bus) or
Host Link
Host link
CX-Programmer Connecting Cables
Port on Module Computer
Built-in peripheral port
Windows
OS
Built-in RS-232C Windows
OS
port
(D-Sub 9-pin
female)
Note
Communications mode
Port on
computer
(Network type)
D-Sub 9-pin Peripheral bus (Tool bus)
male
or Host Link (SYSMAC
WAY)
D-Sub 9-pin Peripheral bus (Tool bus)
male
or Host Link (SYSMAC
WAY)
Model
Length
CS1W-CN226
2.0 m
CS1W-CN626
6.0 m
XW2Z-200S-CV
2m
XW2Z-500S-CV
5m
Remarks
---
Uses staticresistant connectors
When connecting one of these cables to the Coordinator Module’s RS-232C
port, always touch a grounded metal object to discharge any electrostatic
charge from the body before touching the cable connector.
The XW2Z-@@@S-CV Cables are equipped with static-resistant XM2S-0911E Connector Hoods to improve static resistance, but we recommend discharging static build-up before touching these connectors as well.
!Caution The OMRON Cables listed above can be used for connecting cables or an
appropriate cable can be assembled. The external device or Coordinator
Module itself may be damaged if a standard computer RS-232C cable is used
as a connecting cable.
238
Section 8-2
Connecting the CX-Programmer
Connecting an RS-232C Cable to the Peripheral Port
The following connection configurations can be used when connecting an RS232C cable to the Coordinator Module’s peripheral port.
Port on
Module
Built-in
peripheral
port
Computer
Windows
OS
Port on
Communications mode
Model
computer
(Network type)
D-Sub 9-pin Peripheral bus (Tool bus) CS1W-CN118 +
male
or Host Link (SYSMAC
XW2Z-200S-CV/
WAY)
500S-CV
Length
0.1 m +
(2 m or
5 m)
Host link (SYSMAC WAY) CS1W-CN118 +
XW2Z-200S-V/
500S-V
Remarks
The XW2Z-@@@S-CV
Cables have staticresistant connectors.
---
Connecting an RS-232C Cable to the RS-232C Port
The following connection configuration can be used to connect a personal
computer to the Coordinator Module’s RS-232C port with an RS-232C cable.
Port on
Module
Built-in RS232C port Dsub 9-pin
female
Computer
Port on
computer
Windows OS D-Sub 9-pin
male
Note
Communications mode
Model
(Network type)
Host link (SYSMAC WAY) XW2Z-200S-V
Length
2m
XW2Z-500S-V
5m
Remarks
---
Either one of the following two serial communications modes can be used
when connecting the CX-Programmer to the FQM1.
Serial
communications
mode
Peripheral bus
(Tool bus)
Host link (SYSMAC WAY)
Features
Supports high-speed communications, so this communications
mode is normally used to connect to the CX-Programmer.
• Supports only a 1:1 connection.
• When the FQM1 is connected, the CX-Programmer can recognize the baud rate and make the connection automatically.
This communications mode is generally used to connect to a
host computer. Both 1:1 and 1:N connections are supported.
• Host link communications are relatively slow compared to the
peripheral bus mode.
• The Host Link mode supports connections through modems or
optical adapters, long-distance connections using RS-422A or
RS-485 communications, and 1:N connections.
239
Connecting the CX-Programmer
240
Section 8-2
SECTION 9
Error Processing
This section provides information on identifying and correcting errors that occur during FQM1 operation.
9-1
9-2
9-3
Error Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
242
Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
243
9-2-1
Error Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
243
9-2-2
Error Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
243
9-2-3
Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
244
9-2-4
Error Processing Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
245
9-2-5
Error Tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
246
9-2-6
Power Supply Check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
251
9-2-7
Memory Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
252
9-2-8
Program Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
252
9-2-9
Cycle Time Overrun Error Check. . . . . . . . . . . . . . . . . . . . . . . . . . .
253
9-2-10 System Setup Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
253
9-2-11 I/O Setting Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
254
9-2-12 I/O Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
255
9-2-13 Environmental Conditions Check . . . . . . . . . . . . . . . . . . . . . . . . . . .
256
Troubleshooting Problems in Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
256
241
Section 9-1
Error Log
9-1
Error Log
Each time that an error occurs in the FQM1, the error information is stored in
the Error Log Area starting at A100. The error information includes the error
code (same code stored in A400) and error contents. Up to 20 records can be
stored in the Error Log.
Errors Generated by
FAL(006)/FALS(007)
In addition to system errors generated by the Coordinator Module and Motion
Control Module, the FQM1 records user-defined errors generated by the FAL
and FALS instructions in the ladder program. These instructions make it easier to track the operating status of the system.
A user-defined error is generated when FAL or FALS is executed in the program. The input conditions of these instructions constitute the user-defined
error conditions.
The following table shows the error codes for FAL and FALS, which are stored
in A400 and the first word of the error record when the instruction is executed.
Instruction
FAL
FALS
Note
Error Log Structure
FAL numbers
Error codes
#0001 to #01FF (1 to 511 decimal)
#0001 to #01FF (1 to 511 decimal)
4101 to 42FF
C101 to C2FF
FAL generates a non-fatal error (the Coordinator and Motion Control Module
continue operating). FALS generates a fatal error that stops operation.
When more than 20 errors occur, the oldest error data (in A100 to A104) is
deleted and the newest record is stored in A195 to A199.
Order of
Error code occurrence
4102
0300
C101
1
2
Error Log Area
A100
A101
A102
A103
A104
A105
A106
A107
A108
A109
4
1
0
2
0
0
0
0
1
1
1
3
0
0
0
0
1
1
1
0
0
0
0
1
1
1
0
0
0
1
1
1
A195
A196
A197
A198
A199
C
1
0
1
0
0
0
1
1
1
0
0
0
1
1
1
Error code
Error contents
Error code
Error contents
20
Error code
Error contents
A408CH
Error Log Pointer
Note
242
The Error Log Pointer can be reset by turning ON the Error Log Pointer Reset
Bit (A500.14), effectively clearing the error log display in the CX-Programmer.
The contents of the Error Log Area will not be cleared by resetting the pointer.
Section 9-2
Error Processing
9-2
Error Processing
9-2-1
Error Categories
Errors in the FQM1 can be broadly divided into the following three categories.
Category
Result
RDY
Standby
The FQM1 will not start operation
in RUN or MONITOR mode.
OFF
Indicators
RUN
ERR
OFF
Comments
OFF
Non-fatal Errors The FQM1 will continue operating
(including FAL) in RUN or MONITOR mode.
ON
ON
Flashing
(Green) (Green) (Red)
Fatal Errors
The FQM1 will stop operating in
(including FALS) RUN or MONITOR mode.
ON
OFF
(Green)
9-2-2
ON
(Red)
This status occurs when a faulty
Motion Control Module is connected.
This status indicates a non-fatal
error other than a communications
error.
This status indicates a fatal error
other than a power interruption.
(The indicators will all be OFF when
there is a power interruption.)
Error Information
There are basically four sources of information on errors that have occurred:
• The LED indicators on the front of the Coordinator and Motion Control
Modules
• The Auxiliary Area Error Flags
• The Auxiliary Area Error Contents Words
• The Auxiliary Area Error Code Word
Module Indicators
Auxiliary Area Flags and Words
RDY: Initialization completed
RUN: Lit when the Modules
are in RUN or
MONITOR mode.
ERR: Self-diagnostic test
Flashing red:
Non-fatal error
Lit red:
Fatal error
PRPHL: Lit yellow when the
RDY
RUN
ERR
PRPHL
COMM1
COMM2
Error Flags
Error Info.
Flags
indicating
the type of
error.
Words
providing
error
information.
Error Code
Word
(A400)
Error code
A400
A400
contains the
error code.
(See note.)
Module is communicating through the
peripheral port
COMM1: Lit yellow when the
Module is communicating through the
RS-232C port
COMM2: Lit yellow when the
Module is communicating through the
RS-422A port
Note
Indicator Status and
Error Conditions
Indicator
RDY
RUN
CPU error
OFF
OFF
When two or more errors occur at the same time, the highest (most serious)
error code will be stored in A400.
The following table shows the status of the FQM1’s indicators for errors that
have occurred in RUN or MONITOR Mode.
CPU reset
OFF
OFF
CPU
standby
OFF
OFF
Fatal error
ON
OFF
Non-fatal
error
ON
ON
Communications error
Peripheral
RS-232C
RS-422A
ON
---
ON
---
ON
---
243
Section 9-2
Error Processing
Indicator
CPU error
CPU reset
CPU
standby
Fatal error
Non-fatal
error
Communications error
Peripheral
RS-232C
RS-422A
ERR
PRPHL
ON
---
OFF
---
OFF
---
ON
---
Flashing
---
--OFF
-----
-----
COMM1
COMM2
-----
-----
-----
-----
-----
-----
OFF
---
--OFF
9-2-3
Error Codes
Classification
Error code
Fatal system
80F1
errors
80C0
80CE
Non-fatal system errors
244
Error name
Memory error
Page
244
I/O bus error
No End Cover
244
244
80CF
80E0
Synchronous bus error
I/O setting error
244
244
80F0
809F
Program error
Cycle time overrun error
244
244
009B
0001
System Setup setting error
Coordinator Module WDT error
244
244
0006
0300
Coordinator Module error
Motion Control Module WDT error
244
244
User-defined
4101 to 42FF
non-fatal errors
FAL error
244
(4101 to 42FF are stored for FAL numbers 001 to 511)
User-defined
fatal errors
FALS error
(C101 to C2FF are stored for FALS
numbers 001 to 511)
C101 to C2FF
244
Section 9-2
Error Processing
9-2-4
Error Processing Flowchart
Use the following flowchart as a guide for error processing with the CX-Programmer.
Error occurred
during operation
Not lit
Is POWER
indicator lit?
Proceed to 9-2-6
Power Supply Check.
Lit
Not lit
Is RDY
indicator lit?
CPU Error
CPU Reset
CPU standby
Lit
Lit
Is RUN
indicator lit?
Not lit
Is ERR
indicator flashing?
ERR indicator lit.
Flashing
Can
CX-Programmer
connect online?
Non-fatal error
Proceed to 9-2-12 I/O
Check and 9-2-13
Environmental
Conditions Check.
Yes
System FAL error
Fatal error
System Setup
error
Memory error
Motion Control
Module Monitor
error
I/O Bus error
Coordinator Module
Fatal error
I/O Table Setting
error
Coordinator Module
(CM) WDT error
Program error
Cycle Time
Overrun error
System FALS
error
245
Section 9-2
Error Processing
9-2-5
Error Tables
The following tables show the errors which can occur in the FQM1 and indicate the probable cause of the errors.
Note Always confirm the safety of connected equipment before turning the power
supply OFF or ON.
CPU Errors
If the following LED indicator condition appears during operation (in RUN or
MONITOR mode), it indicates that a CPU error has occurred. The CX-Programmer cannot be connected if a CPU error has occurred.
If a fatal error occurs, the RDY and ERR indicators will be lit and the RUN indicator will be OFF, but a CX-Programmer can be connected. This difference
can be used to distinguish between a CPU error and other fatal errors.
Operating
status
Stopped
Error
name
CPU
error
Power Supply
Unit Indicators
POWER
Module Indicators
RDY
RUN
ERR
PRPHL
COMM1
COMM2
Lit
OFF
OFF
Lit
---
---
---
Error flags Error code Error conProbable cause
in Auxiliary (in A400)
tents
Area
None
None
None
A WDT (watchdog timer)
error occurred in a Module.
(This error does not normally occur)
CPU Standby
Remedy
Turn the power OFF and
restart. The Module may be
damaged. Contact your
OMRON representative.
If the following LED indicator condition appears when the power is turned ON,
it indicates that the FQM1 is in CPU standby status.
When the FQM1 is turned ON, cyclic servicing starts after the Coordinator
Module recognizes all of the connected Motion Control Modules. Operation
can be started at that point.
If the startup mode is RUN or MONITOR mode, the FQM1 will remain in
standby status until all of the Motion Modules have been recognized..
Power Supply
Unit Indicators
POWER
Lit
Operating
status
Stopped
Error
name
CPU
standby
Fatal Errors
Module Indicators
RDY
OFF
Error flags Error code Error conin Auxiliary (in A400)
tents
Area
None
None
None
RUN
OFF
ERR
OFF
PRPHL
---
Probable cause
A Motion Control Module
has not started properly.
COMM1
---
COMM2
---
Remedy
Replace the Motion Control
Module.
If the following LED indicator condition appears during operation (in RUN or
MONITOR mode), it indicates that a fatal error has occurred..
Power Supply
Unit Indicators
POWER
Lit
Module Indicators
RDY
Lit
RUN
OFF
ERR
Lit
PRPHL
---
COMM1
---
COMM2
---
The fatal error’s error contents will be displayed in the Error Tab in the CX-Programmer’s Error Window. Determine the cause of the error from the error
246
Error Processing
Section 9-2
message and related Auxiliary Area flags/words and correct the cause of the
error.
Errors are listed in order of importance. When two or more errors occur at the
same time, the more serious error’s error code will be recorded in A400.
The I/O memory will be cleared when a fatal error other than FALS occurs.
(The I/O memory will not be cleared when FALS is executed to generate a
fatal error.)
247
Section 9-2
Error Processing
When operation is stopped, all outputs will be turned OFF. The Servo Driver
that is in Servo ON state for outputs from the FQM1 will switch to Servo OFF
state.
Fatal Errors
Error
Memory
error
Error
Auxiliary Area
code (in flag and word
A400)
data
80F1
A401.15: Memory Error Flag
A403: Memory
Error Location
Probable cause
An error has occurred in memory. A See below.
bit in A403 will turn ON to show the
location of the error as listed below.
A403.00 ON:
Check the program and correct the error.
A checksum error has occurred in
the user program memory. An illegal
instruction was detected.
A403.04 ON:
A checksum error has occurred in
the System Setup.
Transfer the System Setup settings
again.
A403.10 ON:
An error occurred in flash memory
(backup memory).
A403.13 ON:
There is an error in the analog offset/gain data.
A403.14 ON:
A checksum error has occurred in
the DM data stored in flash memory.
Error has occurred in the data transfer between connected Modules or
the End Cover is not connected to
the right side of the FQM1.
Module hardware is faulty. Replace the
Module.
I/O Bus
error
80C0
80CE
80CF
A401.14: I/O
Bus Error Flag
Program
error
80F0
The program is incorrect. A bit in
A401.09: Program Error Flag A405 will turn ON to show the error
A405: Program details as listed below.
error information
Check the data and set again.
Replace the Module.
Try turning the power OFF and ON
again.
If the error persists, turn the power OFF
and check connections between the
Modules and the End Cover.
Check for damage to the Modules. After
correcting the problem, turn the FQM1’s
power OFF and then ON again.
Check A405 to determine the type of
error that occurred.
Correct the program and then clear the
error.
A405.11: No END error
Be sure that there is an END instruction
at the end of the program.
A405.15: UM overflow error
The last address in UM (user program memory) has been exceeded.
Use the CX-Programmer to transfer the
program again to FQM1.
A405.13: Differentiation overflow
error
Too many differentiated instructions
have been inserted or deleted during online editing.
After writing any changes to the program,
switch to PROGRAM mode and then
return to MONITOR mode to continue
editing the program.
A405.12: Task error
A task error has occurred. The task
specified in the MSKS instruction
doesn’t exist.
Check that all of the task numbers specified in the MSKS instructions have corresponding tasks.
Use MSKS to mask any input interrupt
task or other interrupt tasks that are not
being used and that do not have programs set for them.
Check and correct the program.
A405.14: Illegal instruction error
The program contains an instruction
that cannot be executed.
248
Possible remedy
Section 9-2
Error Processing
Error
Error
code (in
A400)
Auxiliary Area
flag and word
data
I/O Table
Setting
error
80E0
A401.10: I/O
Setting Error
Flag
Cycle
Time
Overrun
error
809F
A401.08: Cycle
Time Too Long
Flag
System
C101 to
FALS error C2FF
A401.06: FALS
Error Flag
Non-fatal Errors
Probable cause
Possible remedy
More than 5 Modules are connected. Check whether the number of Modules is
incorrect. If the number of Modules is
incorrect, turn OFF the power supply and
correctly connect the Modules.
The cycle time has exceeded the
Change the program to reduce the cycle
maximum cycle time (watch cycle
time or change the System Setup’s maxitime) set in the System Setup.
mum cycle time setting.
One way to reduce the cycle time is by
jumping parts of the program that aren’t
being used.
FALS has been executed in the pro- Remove the cause of the user-defined
gram.
error indicated by the FAL number.
The error code in A400 will indicate
the FAL number. The leftmost digit of
the code will be C and the rightmost
3 digits of the code will be from 101
to 2FF hex, which correspond to FAL
numbers 001 to 511.
If the following LED indicator condition appears during operation (in RUN or
MONITOR mode), it indicates that a non-fatal error has occurred..
Power Supply
Unit Indicators
POWER
Module Indicators
RDY
RUN
ERR
PRPHL
COMM1
COMM2
Lit
Lit
Lit
Flashing
---
---
---
The non-fatal error’s error contents will be displayed in the Error Tab in the
CX-Programmer’s Error Window. Determine the cause of the error from the
error message and related Auxiliary Area flags/words and correct the cause of
the error.
Errors are listed in order of importance. When two or more errors occur at the
same time, the more serious error’s error code will be recorded in A400.
Non-fatal Errors
Error
Error
code (in
A400)
System FAL
error
4101 to
42FF
System Setup
error
009B
Motion Control
Module Monitoring error
0300
Flag and word
data
Probable cause
A402.15: FAL
Error Flag
Possible remedy
FAL has been executed in program.
The error code in A400 will indicate
the FAL number. The leftmost digit of
the code will be 4 and the rightmost
3 digits of the code will be from 101
to 2FF hex, which correspond to FAL
numbers 001 to 511.
A402.10: SysThere is a setting error in the System Setup Error tem Setup. The location of the error
Flag
is written to A409.
A409: System
Setup Error
Location
Remove the cause of the userdefined error indicated by the FAL
number.
A402.05: Motion An error occurred during cyclic
Control Module refreshing with the Motion Control
Monitoring Error Module.
Flag
Turn the power OFF and ON again.
Set the correct value in the System
Setup.
249
Section 9-2
Error Processing
Error
Coordinator
Module Fatal
error
Coordinator
Module WDT
error
Error
Flag and word
Probable cause
code (in
data
A400)
0006
A402.14: Coor- A fatal error occurred in the Coordidinator Module nator Module.
Fatal Error Flag
Remove the cause of the error in the
Coordinator Module and then clear
the error.
0001
Turn the power OFF and ON again.
A402.13: Coordinator Module
WDT Error Flag
A watchdog timer error occurred in
the Coordinator Module.
Possible remedy
Other Errors
LED indicator status
Power Supply
Unit
POWER
Lit
Coordinator
Module
RDY
Lit
RUN
Lit
ERR
---
PRPHL
OFF
COMM1
---
COMM2
---
Power Supply
Unit
POWER
Lit
Coordinator
Module
RDY
Lit
RUN
Lit
ERR
---
PRPHL
---
COMM1
OFF
COMM2
OFF
Power Supply
Unit
POWER
Lit
Coordinator
Module
RDY
Lit
RUN
Lit
250
ERR
---
PRPHL
---
COMM1
---
COMM2
OFF
Error
Error
code
(A400)
Flag and
word data
Probable cause
Possible remedy
Communications error
None
None
A communications
error occurred
between the peripheral
port and the connected device.
Check the cables.
Also, check the setting
of DIP Switch pin 2
and the communications settings for the
peripheral port in the
System Setup and correct any mistakes.
Communications error
None
None
A communications
error occurred
between the RS-232C
port and the connected device.
Check the host link
port settings in the
System Setup.
Check the cable wiring.
If a host computer is
connected, check the
host computer’s serial
port settings and the
program.
Communications error
None
None
A communications
error occurred
between the RS-422A
port and the connected device.
Check whether the
servo driver settings in
the System Setup are
correct.
Check the cable wiring.
Check the operating
status of the connected servo driver.
Section 9-2
Error Processing
9-2-6
Power Supply Check
Note
Model
CJ1W-PA205R
CJ1W-PA202
Power Supply Unit's
POWER indicator is not lit.
No
Supply voltage
100 to 240V AC
100 to 240V AC
Permissible range
85 to 264V AC
85 to 264V AC
Connect power supply.
Is power being supplied
to the Module?
Yes
Yes
No
Is POWER indicator lit?
Is voltage in range?
(See note.)
No
Keep voltage fluctuations
within the permissible range.
Yes
No
Yes
Is POWER indicator lit?
Are terminal
screws loose or
wires broken?
Yes
Tighten screws or replace
damaged wires.
No
No
Yes
Is POWER indicator lit?
End
Replace the Module.
251
Section 9-2
Error Processing
9-2-7
Memory Error Check
Memory error occurred
Flash Memory Error Flag
(A403.10) ON?
ON
The internal flash memory's rewrite limit has
been exceeded. Replace the Module.
OFF
Was power
interrupted while backing
up memory with the CXProgrammer?
Yes
The power supply was turned OFF during a
memory backup. Transfer the data again.
No
There was a hardware failure in the internal
memory. Replace the Module.
9-2-8
Program Error Check
Program error occurred
Task Error Flag
(A405.12) ON?
ON
The called task does not exist. Check the
MSKS instruction that enables the interrupt
task with the corresponding task number.
ON
There isn't an END instruciton in the
program. Add an END instruction.
OFF
No END Error Flag
(A405.11) ON?
OFF
Turn the power supply OFF and ON again.
252
Section 9-2
Error Processing
9-2-9
Cycle Time Overrun Error Check
Cycle Time Overrun Error
occurred
Is the assumed
cycle time less than the
watch cycle time set in the
System Setup?
The program execution time exceeded the
watch cycle time. Increase the watch cycle
time setting in the System Setup.
No
Yes
Are interrupts
being used?
Yes
Is the Max.
No
Interrupt Processing Time
setting OK?
It is possible that the error occurred
because the interrupt task execution time
was too long.
Yes
No
It is possible that the error occurred
because two or more interrupt tasks were
executed. Check how often interrupt tasks
are executed.
Not cause
of error
There may be an error in the program.
Check all tasks, particularly instructions that
control loops ,such as the JMP instruction.
9-2-10 System Setup Error Check
System Setup Error occurred
What is in
the System Setup Error
Location (A406)?
#0154 hex (340)
Set the proecessing mode correctly.
Other value
A communications error may have occurred
during the transfer from the CX-Programmer.
Transfer the System Setup again.
253
Section 9-2
Error Processing
9-2-11 I/O Setting Error Check
I/O Setting Error occurred
Are 5 or more Motion Control
Modules connected?
No
Yes
Reconfigure the system so that
4 or fewer Motion Control
Modules are connected to the
Coordinator Module.
254
Replace the Module.
Section 9-2
Error Processing
9-2-12 I/O Check
The I/O check flowchart is based on the following ladder diagram section,
assuming that the problem is SOL1 does not turn ON.
(LS1)
CIO 0000.02
CIO 0001.00
SOL1
CIO 0005.00
Start
Is the output
indicator for CIO 0001.00
normal?
(LS1)
CIO 0000.03
No
Yes
Check the 0001.00 terminal
voltage with a multimeter.
No
Is the voltage normal?
No
Yes
Monitor the ON/OFF status of
CIO 0001.00 from the CXProgrammer.
Replace the terminal block
connector.
Wire terminals correctly.
Yes
Is the output wiring
correct?
Did the terminal's
contact fail?
No
Operation normal?
No
Yes
Yes
Disconnect external wiring and
check conduction status, etc.
Yes
Is the voltage normal?
No
Replace the Module.
Check the SOL1 solenoid.
Input indicators
for 0000.02 and 0000.03
normal?
No
Yes
Check voltage at the 0000.02
and 0000.03 terminals with a
multimeter.
Is the voltage normal?
Check voltage at the 0000.02
and 0000.03 terminals with a
multimeter.
No
Is the voltage normal?
Yes
Yes
No
Yes
Disconnect external wiring,
connect a test input, and
check voltage again.
Yes
No
Did the terminal's
contact fail?
Is the input wiring
correct?
No
No
Is the voltage normal?
Wire terminals correctly.
Are the terminal
screws loose?
No
Yes
Tighten terminals screws.
Replace the terminal block
connector.
Yes
Replace the Module.
Check input devices LS1 and
LS2.
Replace the Module.
Return to Start of I/O Check.
255
Section 9-3
Troubleshooting Problems in Modules
9-2-13 Environmental Conditions Check
Environmental Conditions Check
Is the ambient
temperature below
55 °C?
No
Consider using a fan or air
conditioner.
Yes
Is the ambient
temperature above
0 °C?
No
Consider using a heater.
Yes
Is the ambient
humidity between 10%
and 90%?
No
Consider using an air
conditioner.
No
Install surge suppressor or
other noise-suppressing
equipment at noise sources.
Yes
Is noise being
controlled?
Yes
Is atmosphere
acceptable?
No (See note.)
Consider installing in a panel
or improving the installation
location.
Yes
End
Note
9-3
Prevent exposure to corrosive gases, flammable gases, dust, dirt, salts, metal
dust, direct sunlight, water, oils, and chemicals.
Troubleshooting Problems in Modules
Coordinator Module Errors
Error condition
The Power Supply Unit’s POWER indicator is not lit.
The RDY indicators on the Modules do not go ON.
Probable cause
PCB short-circuited or damaged.
The power supply line is faulty
Remedy
Replace the Power Supply Unit.
Replace the Power Supply Unit.
The Coordinator Module’s RUN indicator does not go
ON.
The Power Supply Unit’s RUN output* does not turn
ON.
The Coordinator Module’s RUN indicator is lit.
(*CJ1W-PA205R Power Supply Unit only)
An error in program is causing a Correct program
fatal error
Internal circuitry of Power Sup- Replace the Power Supply Unit.
ply Unit is faulty.
Motion Control Module does not operate or does not
operate properly.
The I/O bus is faulty.
A particular I/O point does not operate.
Error occurs in 8-point or 16-point units.
A particular I/O point stays ON.
None of a particular Module’s I/O points will go ON.
256
Replace the Motion Control
Module.
Section 9-3
Troubleshooting Problems in Modules
Motion Control Module Errors
Error condition
The Motion Control Module’s RUN indicator does
not go ON.
Probable cause
An error in program is causing a
fatal error
Motion Control Module does not operate or does not The I/O bus is faulty.
operate properly.
Remedy
Correct program.
Replace the Motion Control
Module.
A particular I/O point does not operate.
Error occurs in 8-point or 16-point units.
A particular I/O point stays ON.
None of a particular Module’s I/O points will go ON.
Input Errors
Error condition
None of inputs turn ON.
(Indicators are not lit.)
None of inputs turn ON.
(Indicators are lit.)
None of inputs turn OFF.
A particular input does not turn ON.
Probable cause
Remedy
(1) External input power supply
is not being supplied.
Connect a proper external input
power supply.
(2) The external input power
supply voltage is too low.
Adjust supply voltage to within
proper range.
(3) Terminal block connector is
not making good contact.
Input circuit is faulty.
Replace terminal block connector.
Replace the Module.
Input circuit is faulty.
Replace the Module.
(1) Input device is faulty.
(2) Input wiring disconnected.
Replace the input device.
Check input wiring.
(3) Faulty terminal block connec- Replace terminal block connector contact.
tor.
A particular input does not turn OFF.
Input turns ON/OFF irregularly.
(4) External input’s ON time is
too short.
Adjust input device
(5) Faulty input circuit
(6) An input bit address is used
in an output instruction.
Replace the Module.
Correct program.
(1) Input circuit is faulty.
(2) An input bit address is used
in an output instruction.
(1) External input voltage is low
or unstable.
(2) Malfunction due to noise.
Replace the Module.
Correct program.
(2) Faulty data bus
(3) Faulty CPU
Replace the Module.
Replace the Module.
Adjust external input voltage to
within the proper range.
Take protective measures
against noise, such as:
(1) Install surge suppressor.
(2) Install isolating transformer.
(3) Install shielded cables
between the inputs and loads.
(3) Faulty terminal block connec- Replace terminal block connector contact.
tor.
Errors occur in 8-point or 16-point blocks, i.e., for the (1) Faulty terminal block connec- Replace terminal block connecsame common.
tor contact.
tor.
Input indicator does not light, but input operates nor- Faulty indicator or indicator cirmally.
cuit.
Replace the Module.
257
Section 9-3
Troubleshooting Problems in Modules
Output Errors
Error condition
None of the outputs will go ON.
Probable cause
(1) The load power is not being
supplied.
Remedy
Supply power.
(2) Load power supply voltage is Adjust voltage to within the
too low.
allowed range.
(3) Faulty terminal block connec- Replace terminal block connector contact.
tor.
None of the outputs will go OFF.
A specific bit address’ output does not turn ON.
(Indicator is not lit.)
A specific bit address’ output does not turn ON.
(Indicator is lit).
A specific bit address’ output does not turn OFF.
(Indicator is not lit.)
Output of a specific bit number does not turn OFF.
(Indicator lit.)
Output turns ON/OFF irregularly.
(4) Output circuit is faulty.
Output circuit is faulty.
Replace the Module.
Replace the Module.
(1) Output ON time too short
because of a program error.
(2) The bit’s status is controlled
by multiple output instructions.
Correct program to increase the
time that the output is ON.
Correct program so that each
output bit is controlled by only
one instruction.
(3) Faulty output circuit.
(1) Faulty output device.
Replace the Module.
Replace output device.
(2) Break in output wiring.
Check output wiring.
(3) Faulty terminal block connec- Replace terminal block connector.
tor.
Output does not turn OFF due to
leakage current or residual voltage.
(1) The bit’s status is controlled
by multiple output instructions.
(2) Faulty output circuit.
Replace external load or add
dummy resistor.
Correct program.
Replace the Module.
(1) Low or unstable load voltage. Adjust load voltage to within
proper range
(2) The bit’s status is controlled
by multiple output instructions.
Correct program so that each
output bit is controlled by only
one instruction.
(3) Malfunction due to noise.
Take protective measures
against noise, such as:
(1) Install surge suppressor.
(2) Install isolating transformer.
(3) Install shielded cables
between the outputs and loads.
(4) Faulty terminal block connec- Replace terminal block connector contact.
tor.
Errors occur in 8-point or 16-point blocks, i.e., for the (1) Faulty terminal block connec- Replace terminal block connecsame common.
tor contact.
tor.
Output indicator does not light, but output operates
normally.
258
(2) Faulty data bus
(3) Faulty CPU
Replace the Module.
Replace the Module.
Faulty indicator or indicator circuit.
Replace the Module.
SECTION 10
Inspection and Maintenance
This section provides inspection and maintenance information.
10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
260
10-1-1 Inspection Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
260
10-1-2 Module Replacement Precautions . . . . . . . . . . . . . . . . . . . . . . . . . .
261
259
Section 10-1
Inspections
10-1 Inspections
Daily or periodic inspections are required in order to maintain the FQM1 in
peak operating condition.
10-1-1 Inspection Points
Although the major components in the FQM1 have an extremely long life time,
they can deteriorate under improper environmental conditions. Periodic
inspections are thus required to ensure that the required condition is being
maintained.
Inspection is recommended at least once every six months to a year, but more
frequent inspections will be necessary in adverse environments.
Take immediate steps to correct the situation if any of the conditions in the following table are not met.
Inspection Points for Periodic Inspections
No.
Item
Inspection
1
Source Power
Supply
2
I/O Power Supply
3
Ambient environ- Check the ambient temperament
ture. (Inside the control panel
if the FQM1 is in a control
panel.)
Criteria
Check for voltage fluctuations The voltage must be within
at the power supply terminals. the allowable voltage fluctuation range.
(See note.)
Check for voltage fluctuations Voltages must be within
at the I/O terminals.
specifications for each
Module.
0 to 55°C
Check the ambient humidity.
Relative humidity must be
(Inside the control panel if the 10% to 90% with no conFQM1 is in a control panel.)
densation.
Check that the FQM1 is not in
direct sunlight.
Check for accumulation of
dirt, dust, salt, metal filings,
etc.
Check for water, oil, or chemical sprays hitting the FQM1.
Check for corrosive or flammable gases in the area of the
FQM1.
Check the level of vibration or
shock.
Check for noise sources near
the FQM1
260
Not in direct sunlight
Action
Use a voltage tester to check the
power supply at the terminals. Take
necessary steps to bring voltage
fluctuations within limits.
Use a voltage tester to check the
power supply at the terminals. Take
necessary steps to bring voltage
fluctuations within limits.
Use a thermometer to check the
temperature and ensure that the
ambient temperature remains
within the allowed range of 0 to
55°C.
Use a hygrometer to check the
humidity and ensure that the ambient humidity remains within the
allowed range.
In particular, verify that there is no
condensation or icing caused by
sudden temperature changes.
Protect the FQM1 if necessary.
No accumulation
Clean and protect the FQM1 if necessary.
No spray on the FQM1
Clean and protect the FQM1 if necessary.
Check by smell or use a sensor.
No corrosive or flammable
gases
Vibration and shock must
be within specifications.
No significant noise
sources
Install cushioning or shock absorbing equipment if necessary.
Either separate the FQM1 and
noise source or protect the FQM1.
Section 10-1
Inspections
No.
Item
4
Installation and
wiring
Inspection
Check that each Module is
connected and locked to the
next Module securely.
Check that cable connectors
are fully inserted and locked.
Check for loose screws in
external wiring.
Criteria
No looseness
Check crimp connectors in
external wiring.
Adequate spacing between Check visually and adjust if necesconnectors
sary.
Check for damaged external
wiring cables.
No damage
Note
Action
Press the connectors together
completely and lock them with the
sliding latches.
Correct any improperly installed
connectors.
Tighten loose screws with a Phillips-head screwdriver.
No looseness
No looseness
Check visually and replace cables if
necessary.
The following table shows the allowable voltage fluctuation ranges for source
power supplies.
Supply voltage
100 to 240 V AC
Allowable voltage range
85 to 264 V AC
Tools Required for Inspections
Required Tools
• Phillips-head screwdriver
• Voltage tester or digital multimeter
• Industrial alcohol and clean cotton cloth
Tools Required
Occasionally
• Synchroscope
• Oscilloscope with pen plotter
• Thermometer and hygrometer (humidity meter)
10-1-2 Module Replacement Precautions
Check the following after replacing any faulty Module.
• Do not replace a Module until the power is turned OFF.
• Check the new Module to make sure that there are no errors.
• If a faulty Module is being returned for repair, describe the problem in as
much detail as possible, enclose this description with the Module, and
return the Module to your OMRON representative.
• For poor contact, take a clean cotton cloth, soak the cloth in industrial
alcohol, and carefully wipe the contacts clean. Be sure to remove any lint
prior to remounting the Module.
Note
(1) When replacing a Coordinator Module or Motion Control Module, be sure
that not only the user program but also all other data required for operation is transferred to or set in the new Coordinator Module before starting
operation, including DM Area and System Setup settings. If data area and
other data are not correct for the user program, unexpected operation or
accidents may occur.
(2) The System Setup is stored in the parameter area within the Coordinator
Module or Motion Control Module. Be sure to transfer these settings to
the new Coordinator Module or Motion Control Module when replacing a
Module.
(3) After replacing a Motion Control Module, always set the required settings.
(4) In some cases, parameter data used in the Motion Control Modules is actually stored in the Coordinator Module’s DM Area, so be sure to transfer
the DM Area settings when replacing a Coordinator Module.
261
Inspections
262
Section 10-1
Appendix A
Programming
Programs and Tasks
Tasks
There are basically two types of task.
1. Cyclic Task
The cyclic task is executed once each cycle.
2. Interrupt Tasks
An interrupt task is executed when the interrupt condition is met, even if this occurs while the cyclic task is
being executed.
There are three types of interrupt task.
Type of task
Sync mode scheduled
interrupt tasks
Input interrupt tasks
Description
The sync mode scheduled interrupt task is executed once every sync cycle. This interrupt
task is supported only by the Coordinator Module.
Input interrupt tasks are executed when a built-in input turns ON, OFF, or both on a Motion
Control Module.
Normal interrupt tasks
Other interrupt tasks can be executed according to task number specified in programming
instructions. These include one-shot interrupts, interval timer interrupts, high-speed
counter target value interrupts, pulse output counter target value interrupts, etc.
The CX-Programmer can be used to allocate one program to each of many tasks, as required by the system.
Program A
Allocated
END
Allocated
Cyclic
task
Interrupt
condition
met
Interrupt
task
Program B
Each program ends
with an END(001)
instruction.
END
I/O refresh
263
Appendix A
Programming
Subroutines
What Are Subroutines?
A subroutine is a program written between the SBN(092) and RET(093) instructions in a special subroutine
area. A subroutine is called from the main program using the SBS(091), MCRO(099), or JSB(982) instruction.
Subroutines can be used in the following three ways with the FQM1.
Type of subroutine
Normal subroutines
Subroutines for
which parameters
are passed
Description
Normal subroutines are executed without passing parameters.
• Parameters can be passed to the subroutine.
• The results of processing in the subroutine can be returned to the
main program.
• Flags can be used to access the input condition to the subroutine
while the subroutine is being executed.
• It’s possible to check to see if a subroutine has been executed in the
past.
• Parameters can be passed to and from the subroutine using storage
registers.
Calling instruction
SBS(091)
MCRO(099)
JSB(982)
Using Normal Subroutines
A normal subroutine is written between the SBN(092) and RET(093) instructions and called using the
SBS(091) instruction.
1. Write the program to be executed between SBN(092) and RET(093).
2. Set the subroutine number for the operand of SBN(092).
3. Call the subroutine using SBS(091)
SBS
Main program
(section 1)
100
Set the subroutine
number to call. Here,
the subroutine number
is 100.
SBN
100
Subroutine
(section 2)
Processing
Set the the subroutine
number. Here, the
subroutine number is
100.
RET
SBN
10
Subroutine
(section 3)
Processing
RET
264
Set the the subroutine
number. Here, the
subroutine number is
10.
Programming
Appendix A
Using Subroutines That Pass Parameters
With these subroutines, parameters can be passed to the subroutine when it is called and then the results of
processing in the subroutine can be returned to the main program. This enables using one subroutine while
changing the I/O addresses that are used. One subroutine can thus be used in multiple locations with similar
logic in the program to reduce the number of program steps and make the program easier to understand.
When passing parameters to a subroutine, execution is possible either with or without using Subroutine Input
Condition Flags.
Execution without Subroutine Input Condition Flags
The MCRO(099) instruction is used to call subroutines without Subroutine Input Condition Flags.
MCRO(099)
Subroutine number
First input parameter word
First output parameter word
The following process is performed when MCR0(099) is executed.
1. Five words starting with the first input parameter word are copied to A510 through A514 (macro area inputs).
2. The specified subroutine is executed through RET(093).
3. When the subroutine is completed, the contents of A515 through A519 (macro area outputs) are copied to
five words starting with the first output parameter word.
4. Program execution continues with the next instruction after MCRO(099).
The first input and output parameter words can be changed when executing MCRO(099) to use the same subroutine for different purposes at different locations in the program.
As shown by the above process, using the macro function has the following limitations.
• The parameters being passed must be stored in 5 continuous words.
• The specified I/O parameters must be passed so that they correctly correspond to the program in the subroutine.
Note
(1) A510 through A514 (macro area inputs) and A515 through A519 (macro area outputs) can be used
as work bits if MCRO(099) is not used.
(2) The words specified for the input/output parameter words can be I/O words, Auxiliary Area words,
DM Area words, or words in other memory areas.
(3) The subroutines called by MCRO(099) must be written in the same way as a normal subroutine,
e.g., between SBN(092) and RET(093).
Execution with Subroutine Input Condition Flags
Overview
Subroutines called with JSB(982) are always executed regardless of the input condition to the instruction. The
status of the input condition, however, is stored in an Auxiliary Area bit so that the status can be used to control
program execution within the subroutine.
Subroutines called with JSB(982) are executed even if their input condition is OFF and even in program sections interlocked with IL(002). The status of the input condition is stored in the Subroutine Input Condition Flag
corresponding to the subroutine. Subroutine Input Condition Flags are from A000 to A015 and correspond to
the subroutine numbers. The Subroutine Input Condition Flag can be used within the subroutine to control program execution.
For example, a subroutine could perform jogging when the input condition is ON and perform stop processing
or deceleration when the input condition is OFF, or a subroutine could execute a communications instruction
when the input condition turned ON and then continue to monitor communications until a response is received
after the input condition turns OFF.
265
Appendix A
Programming
Note
(1) Index registers have been used to increase the usability of subroutines called with JSB(982). The
actual addresses in I/O memory of the first input parameter word and first output parameter word
are automatically stored in index registers IR0 and IR1, respectively. This enables accessing the input parameter words in the subroutine by indirectly addressing IR0 to read the input parameters for
specific processing, as well as accessing the output parameter words in the subroutine by indirectly
addressing IR1 to write data for output.
(2) When a subroutine is called with SBS(091), the entire subroutine will be skipped when the input condition is OFF, making it impossible to program processing for OFF input conditions (e.g., stopping
processing or decelerating for an OFF input condition in a subroutine that performs jogging for an
ON input condition).
(3) When a subroutine is called with SBS(091), it is not possible to tell from within the subroutine if the
subroutine has been executed before. This makes it impossible to perform different processing in
different cycles, such as spreading processing over multiple cycles.
JSB(982) Operation
JSB
Input condition
N
S
D
N: Subroutine number
S: First input parameter word
D: First output parameter word
Note JSB(982) will be executed even if the input condition is OFF.
The following process is performed when JSB(982) is executed.
1. When the subroutine is called, the status of the input condition for JSB(982) is stored in the corresponding
Subroutine Input Condition Flag.
Address
Corresponding subroutines
Word
A000
Bits
00 to 15
SBN000 to SBN015
A001
A002
00 to 15
00 to 15
SBN016 to SBN031
SBN032 to SBN047
.
.
.
.
.
.
.
.
.
A015
00 to 15
SBN240 to SBN255
2. The actual addresses in I/O memory of the first input parameter word and first output parameter word are
automatically stored in index registers IR0 and IR1, respectively
3. The specified subroutine is executed through RET(093).
4. Program execution continues with the next instruction after JSB(982).
Note If JSB(982) is within a program section interlocked by IL(002) and ILC(003), the subroutine will still be
executed, but the interlock will apply to the program in the subroutine as well.
266
Appendix A
Programming
Application Examples
Execution without Subroutine Input Condition Flags
Without Macro Function
0000.00
With Macro Function
P_On (Always ON)
0010.01
MCRO
0049
0000
0010
0010.00
0010.00
0000.01
0000.02
MCRO
0049
0002
0015
0010.01
0002.00
0015.01
0015.00
MCRO
0049
0005
0012
0015.00
0002.01
0002.02
0015.01
0005.00
MCRO
0049
0010
0015
0012.01
0012.00
0012.00
0005.01
0010.00
SBN
0005.02
0012.01
0220.00
0015.00
0225.00
0015.01
0015.00
0010.01
0220.01
049
0225.01
0225.00
0220.02
0225.01
0010.02
0015.01
RET
267
Appendix A
Programming
Execution with Subroutine Input Condition Flags
Main Program
a
b
c
JSB
0
D00000
D01000
Results of logic
for input condition
Subroutine called
Subroutine 0 is called and
executed regardless of the
status of the input condition.
The logic results of a, b, c is
stored in A000.00 as the input
condition. The actual memory
address of D00000 (10000 hex)
is stored in IR0 and the actual
memory address of D00100
(10064 hex) is stored in IR1
Subroutine 0
SBN
0
A000.00
W000.00
Subroutine 0
Input Condition Flag
Either ACC or INI is executed
depending on the staus of
A000.00. If ACC is executed, the
parameters (e.g., rate of
acceleration) starting at D00000
are accessed using the actual
memory address stored in IR0 to
execute acceleration.
W000.00
@ACC
#0000
#0000
,IR0
Acceleration
Address
Accessed
W000.00
.
@INI
#0000
#0003
0000
268
Stopping
D00000
D00000
D00000
Data
Acceleration/deceleration rate
Target
frequency
Appendix A
Programming
Basic Information on Programming
Basic Information on Instructions
Programs consist of instructions. The conceptual structure of the inputs to and outputs from an instruction is
shown in the following diagram.
Input condition*1
Input condition
Instruction
Instruction conditions
Instruction conditions*2
Flags
Flag
*1: Input instructions only.
Operands
(sources)
Operands
(destinations)
*2: Not output for all instructions.
Memory
Power Flow
The power flow is the input condition that is used to control the execution of instructions when programs are
executing normally. In a ladder program, power flow represents the status of the input condition.
1. Input Instructions
• Load instructions indicate a logical start and output the input condition.
Outputs the input condition.
• Intermediate instructions input the power flow as an input condition and output the power flow to an intermediate or output instruction as an input condition.
Outputs the input condition.
=
D00000
#1215
2. Output Instructions
Output instructions execute functions, using the power flow as an input condition.
Input condition for LD
Input condition for
output instruction
Input block
Output block
Instruction Conditions
Instruction conditions are special conditions related to overall instruction execution that are output by the
instructions listed below. Instruction conditions have a higher priority than the input condition when it comes to
deciding whether or not to execute an instruction. An instruction may not be executed or may act differently
depending on instruction conditions. Instruction conditions are reset (canceled) at the start of each task, i.e.,
they are reset when the task changes.
269
Appendix A
Programming
The following instructions are used in pairs to set and cancel certain instruction conditions. Each pair of
instructions must be in the same task.
Instruction
condition
Description
Interlocked
Setting
instruction
An interlock turns OFF part of the program. Special conditions, such as IL(002)
turning OFF output bits, resetting timers, and holding counters, are in
effect.
Block program A program block from BPRG(096) to BEND(801) is executed.
execution
BPRG(096)
Canceling
instruction
ILC(003)
BEND(801)
Flags
In this context, a flag is a bit that serves as an interface between instructions.
Input flags
Output flags
• Differentiation Flags
• Condition Flags
Differentiation result flags. The status of these flags Condition Flags include the Always ON/OFF Flags, as well as
are input automatically to the instruction for all difflags that are updated by results of instruction execution. In user
ferentiated up/down output instructions and the
programs, these flags can be specified by labels, such as ER, CY,
DIFU(013)/DIFD(014) instructions.
>, =, A1, A0, rather than by addresses.
• Carry (CY) Flag
The Carry Flag is used as an unspecified operand
in data shift instructions and addition/subtraction
instructions.
Operands
Operands specify preset instruction parameters (boxes in ladder diagrams) that are used to specify I/O memory area contents or constants. An instruction can be executed by entering an address or constant as the operands. Operands are classified as source, destination, or number operands.
Example
JMP
MOV
#0000
D00000
3
S (source)
D (destination)
Operand types
Source
N (number)
Specifies the address of the data
to be read or a constant.
Operand
symbol
Description
S
Source operand
Source operand other than control
data (C)
C
Control data
Compound data in a source operand that has different meanings
depending bit status.
Destination
(Results)
Specifies the address where data
will be written.
D
---
Number
Specifies a particular number used N
in the instruction, such as a jump
number or subroutine number.
---
Note Operands are also called the first operand, second operand, and so on, starting from the top of the
instruction.
MOV
#0000
D00000
270
First operand
Second operand
Appendix A
Programming
Instruction Location and Input Conditions
The following table shows the possible locations for instructions. Instructions are grouped into those that do
and those do not require input conditions.
Instruction type
Input
Logical start
instructions (Load
instructions)
Possible location
Connected directly to
the left bus bar or is at
the beginning of an
instruction block.
Input condition
Not required.
Intermediate Between a logical start
instructions
and the output instruction.
Output instructions
Note
Connected directly to
the right bus bar.
Diagram
Examples
LD, LD >, and other
symbol comparison
instructions
Required.
AND, OR, AND >, and
other symbol comparison instructions)
Required.
Most instructions
including OUT and
MOV(021).
Not required.
END(001), JME(005),
ILC(003), etc.
(1) There is another group of instructions that executes a series of mnemonic instructions based on a
single input. These are called block programming instructions. Refer to the Instructions Reference
Manual (Cat. No. O011) for details on these block programs.
(2) If an instruction requiring an input condition is connected directly to the left bus bar without a logical
start instruction, a program error will occur when checking the program on the CX-Programmer.
Addressing I/O Memory Areas
Bit Addresses
@@@@.@@
Bit number (00 to 15)
Word address
Example: The address of bit 03 in word 0001 in the CIO Area would be as shown below. This address is given
as “CIO 0001.03” in this manual.
0001. 03
Bit number (03)
Word address: 0001
Bit: CIO 0001.03
Word
15
14
13
12
11
10
09
08
07
06
05
04
03
02
01
00
0000
0001
0002
Word Addresses
@@@@
Word address
Example: The address of bits 00 to 15 in word 0010 in the CIO Area would be as shown below. This address
is given as “CIO 0010” in this manual.
271
Appendix A
Programming
0010
Word address
DM Area addresses are given with “D” prefixes, as shown below for the address D00200.
D00200
Word address
Specifying Operands
Operand
Specifying bit
addresses
Description
The word address and bit number are specified
directly to specify a bit (input input bits).
@@@@. @@
Notation
0001 02
Application
examples
0001.02
Bit number (02)
Bit number
(00 to 15)
Word address
Word address: 0001
Note The same addresses are used to access
timer/counter Completion Flags and
Present Values.
Specifying
word
addresses
The word address is specified directly to
specify the 16-bit word.
MOV 0003
D00200
0003
Word address: 0003
@@@@
D00200
Word address
Word address: 00200
272
Appendix A
Programming
Operand
Specifying
indirect DM
addresses in
Binary Mode
Description
Notation
Application
examples
The offset from the beginning of the area is
specified. The contents of the address will be
treated as binary data (00000 to 32767) to
specify the word address in Data Memory (DM).
Add the @ symbol at the front to specify an
indirect address in binary mode.
@D@@@@@
Contents
00000 to 32767
(0000 Hex to
7FFF Hex)
D
1) D00000 to D32767 are specified if
@D(@@@@@) contains 0000 hex to 7FFF
hex (00000 to 32767).
MOV #0001
@D00300
@D00300
Contents
0100
Binary: 256
Specifies D00256.
Add the @ symbol.
The offset from the beginning of the area is
specified. The contents of the address will be
treated as BCD data (0000 to 9999) to specify
the word address in Data Memory (DM). Add
an asterisk (*) at the front to specify an indirect
address in BCD Mode.
*D@@@@@
MOV #0001
*D00200
*D00200
0100
Contents
Specifies D0100
Add an asterisk (*).
00000 to 9999
(BCD)
Contents
D
Note With indirect address specifications in binary mode, the DM Area addresses are treated as consecutive
memory addresses.
273
Appendix A
Programming
Operand
Specifying
an indirect
address
using a register
Description
Indirect
address
(No offset)
Notation
The bit or word with the memory
address contained in IR@ will be specified.
Specify ,IR@ to specify bits and words
for instruction operands.
Constant
offset
Data
16-bit constant
32-bit constant
,IR1
The bit or word with the memory
address in IR@ + or – the constant is
specified.
Specify +/– constant ,IR@. Constant offsets range from –2048 to +2047 (decimal). The offset is converted to binary
data when the instruction is executed.
Auto Incre- The contents of IR@ is incremented by
ment
+1 or +2 after referencing the value as
an memory address.
+1: Specify ,IR@+
+2: Specify ,IR@ + +
+5,IR0
Auto Decrement
,– –IR0
The contents of IR@ is decremented by
–1 or –2 after referencing the value as
an memory address.
–1: Specify ,–IR@
–2: Specify ,– –IR@
Operand
Data form
All binary data or Unsigned binary
a limited range of Signed decimal
binary data
Unsigned decimal
All BCD data or a BCD
limited range of
BCD data
All binary data or Unsigned binary
a limited range of
binary data
Signed decimal
Unsigned decimal
All BCD data or a BCD
limited range of
BCD data
274
,IR0
Symbol
#
±
+31,IR1
,IR0 ++
,IR1 +
,–IR1
Application examples
LD ,IR0
Loads the bit with the memory address
in IR0.
MOV #0001 ,IR1
Stores #0001 in the word with the
memory address in IR1.
LD +5 ,IR0
Loads the bit with the memory address
in IR0 + 5.
MOV #0001 +31 ,IR1
Stores #0001 in the word with the
memory address in IR1 + 31
LD ,IR0 ++
Increments the contents of IR0 by 2
after the bit with the memory address
in IR0 is loaded.
MOV #0001 ,IR1 +
Increments the contents of IR1 by 1
after #0001 is stored in the word with
the memory address in IR1.
LD ,– –IR0
After decrementing the contents of IR0
by 2, the bit with the memory address
in IR0 is loaded.
MOV #0001 ,–IR1
After decrementing the contents of IR1
by 1, #0001 is stored in the word with
the memory address in IR1.
Range
#0000 to #FFFF
Application example
---
&
–32768 to
+32767
&0 to &65535
---
#
#0000 to #9999
---
#
#00000000 to
#FFFFFFFF
–2147483648 to
+2147483647
&0 to
&4294967295
---
#00000000 to
#99999999
---
±
&
#
---
-----
Appendix A
Programming
Operand
Data form
Symbol
Text string data is stored in ASCII
--(one byte except for special characters) in order from the leftmost to the
rightmost byte and from the rightmost (lower) to the leftmost word.
00 hex (NUL code) is stored in the
rightmost byte of the last word if
there is an odd number of characters.
0000 hex (2 NUL codes) is stored in
the leftmost and rightmost vacant
bytes of the last word + 1 if there is
an even number of characters.
Range
Application example
'ABCDE'
'A'
'C'
'E'
'B'
'D'
NUL
41
43
45
42
44
00
'ABCD'
'A'
'C'
NUL
'B'
'D'
NUL
41
43
00
42
44
00
ASCII characters that can be used in a text string includes alphanumeric characters, Katakana and symbols (except for special characters). The characters are shown in the following table.
Upper 4 bits
Lower 4 bits
Data
Text string
275
Appendix A
Programming
Data Formats
The following table shows the data formats that the FQM1 can handle.
Data type
Data format
Unsigned
binary
15 14 13
Binary
Decimal
Hex
Signed
binary
Decimal
Hex
10 9
8
215 214 213 212 211 210 29
7
6
5
28 27
26
3276816384 8192 4096 2048 1024 512 256 128
23
22
21
15 14 13
Binary
12 11
Decimal
20
23
12 11
22
21
10 9
215 214 213 212 211 210 29
4
25 24
32
16
8
4
22
21
20
23
22
8
7
6
5
4
64
32
22
21
20
23
22
21
22
64
3276816384 8192 4096 2048 1024 512 256 128
21
23
23
26
22
2
20
28 27
23
3
20
23
25 24
3
2
23
22
16
8
4
20
23
22
1
0
4-digit
hexadecimal
0 to
65535
0000 to FFFF
0 to
–32768
0 to
+32767
8000 to 7FFF
0 to 9999
0000 to 9999
---
---
21 20
1
2
21
1
20
0
21 20
1
2
21
20
Sign bit: 0: Positive, 1: Negative
BCD
(binary
coded decimal)
15 14 13
Binary
23
Decimal
Single-precision
floatingpoint decimal
22
12 11
21 20
23
0 to 9
31 30 29
Sign of
mantissa
Exponent
10 9
22
8
21
7
20 23
6
22
0 to 9
23
22
21
5
4
21 20
3
2
23
0 to 9
20 19 18 17
Binary
22
1
0
21
20
0 to 9
3
2
1
0
Mantissa
Value = (−1)Sign x 1.[Mantissa] x 2Exponent
1: negative or 0: positive
Sign (bit 31)
Note
Mantissa
The 23 bits from bit 00 to bit 22 contain the mantissa,
i.e., the portion below the decimal point in 1.@@@.....,
in binary.
Exponent
The 8 bits from bit 23 to bit 30 contain the exponent.
The exponent is expressed in binary as 127 plus n in
2n.
This format conforms to IEEE754 standards for single-precision floatingpoint data and is used only with instructions that convert or calculate
floating-point data. It can be used to set or monitor from the I/O memory
Edit and Monitor Screen on the CX-Programmer. As such, users do not
need to know this format although they do need to know that the formatting
takes up two words.
Note Signed Binary Data
In signed binary data, the leftmost bit indicates the sign of binary 16-bit data. The value is expressed in
4-digit hexadecimal.
Positive Numbers: A value is positive or 0 if the leftmost bit is 0 (OFF). In 4-digit hexadecimal, this is
expressed as 0000 to 7FFF hex.
276
Appendix A
Programming
Negative Numbers: A value is negative if the leftmost bit is 1 (ON). In 4-digit hexadecimal, this is
expressed as 8000 to FFFF hex. The absolute of the negative value (decimal) is expressed as a two’s
complement.
Example: To treat –19 in decimal as signed binary, 0013 hex (the absolute value of 19) is subtracted
from FFFF hex and then 0001 hex is added to yield FFED hex.
F
1111
True number
0
0000
−)
F
1111
0
0000
+)
Two's complement
F
1111
F
1111
0
0000
F
1111
0
0000
F
1111
F
1111
1
0001
E
1110
0
0000
E
1110
F
1111
3
0011
C
1100
1
0001
D
1101
Complements
Generally the complement of base x refers to a number produced when all digits of a given number are subtracted from x – 1 and then 1 is added to the rightmost digit. (Example: The ten’s complement of 7556 is 9999
– 7556 + 1 = 2444.) A complement is used to express a subtraction and other functions as an addition.
Example: With 8954 – 7556 = 1398, 8954 + (the ten’s complement of 7556) = 8954 + 2444 = 11398. If we
ignore the leftmost bit, we get a subtraction result of 1398.
Two’s Complements
A two’s complement is the base-two complement. Here, we subtract all digits from 1 (2 – 1 = 1) and add one.
Example: The two’s complement of binary number 1101 is 1111 (F hex) – 1101 (D hex) + 1 (1 hex) = 0011 (3
hex). The following shows this value expressed in 4-digit hexadecimal.
The two’s complement b hex of a hex is FFFF hex – a hex + 0001 hex = b hex. To determine the two’s complement b hex of “a hex,” use b hex = 10000 hex – a hex.
Example: To determine the two’s complement of 3039 hex, use 10000 hex – 3039 hex = CFC7 hex.
Similarly use a hex = 10000 hex – b hex to determine the value a hex from the two’s complement b hex.
Example: To determine the real value from the two’s complement CFC7 hex, use 10000 hex – CFC7 hex =
3039 hex.
Two instructions, NEG(160)(2’S COMPLEMENT) and NEGL(161) (DOUBLE 2’S COMPLEMENT), can be
used to determine the two’s complement from the true number or to determine the true number from the two’s
complement.
277
Appendix A
Programming
Note Signed BCD Data
Signed BCD data is a special data format that is used to express negative numbers in BCD. Although
this format is found in applications, it is not strictly defined and depends on the specific application. The
FQM1 supports four data formats and supports the following instructions to convert the data formats:
SIGNED BCD-TO-BINARY: BINS(470) and SIGNED BINARY-TO-BCD: BCDS(471). Refer to the
Instructions Reference Manual (Cat. No. O011) for more information.
Decimal
0
Hexadecimal
Binary
0
0000
0000
1
2
1
2
0001
0010
0001
0010
3
4
3
4
0011
0100
0011
0100
5
6
5
6
0101
0110
0101
0110
7
8
7
8
0111
1000
0111
1000
9
10
9
A
1001
1010
1001
0001
0000
11
12
B
C
1011
1100
0001
0001
0001
0010
13
14
D
E
1101
1110
0001
0001
0011
0100
15
16
F
10
1111
10000
0001
0001
0101
0110
Decimal
Unsigned binary (4-digit hexadecimal)
Signed binary (4-digit hexadecimal)
+65,535
+65,534
FFFF
FFFE
.
.
.
+32,769
.
.
.
8001
+32,768
+32,767
8000
7FFF
7FFF
+32,766
.
.
.
+2
7FFE
.
.
.
0002
7FFE
.
.
.
0002
+1
0
0001
0000
0001
0000
–1
–2
Cannot be expressed.
FFFF
FFFE
.
.
.
–32,767
–32,768
278
BCD
Cannot be expressed.
.
.
.
8001
8000
Appendix A
Programming
Instruction Variations
The following variations are available for instructions to differentiate executing conditions.
Variation
Differentiation
Symbol
Description
@
Instruction that differentiates when the input condition turns ON.
ON
OFF %
Instruction that differentiates when the input condition turns OFF.
@ MOV
Instruction (mnemonic)
Differentiation variation
Input Conditions
The FQM1 offers the following types of basic and special instructions.
• Non-differentiated instructions executed every cycle
• Differentiated instructions executed only once
Non-differentiated Instructions
• Output instructions that require input conditions are executed once every cycle while the input condition is
valid (ON or OFF).
Example
Non-differentiated
output instruction
MOV
• Input instructions that create logical starts and intermediate instructions that read bit status, make comparisons, test bits, or perform other types of processing every cycle. If the results are ON, power flow is output
(i.e., the input condition is turned ON).
Non-differentiated input instruction
Example
Input-differentiated Instructions
• Upwardly Differentiated Instructions (Instructions Preceded by @)
• Output Instructions: The instruction is executed only during the cycle in which the input condition
turns ON (OFF → ON) and are not executed in the following cycles.
Example
0001.02
(@) Upwardly differ
entiated instruction
@MOV
Executes the MOV instruction once when
CIO 0001.02 goes OFF → ON.
• Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status,
makes comparisons, tests bits, or perform other types of processing every cycle and will output an ON
execution condition (power flow) when results switch from OFF to ON. The execution condition will turn
OFF the next cycle.
Upwardly differentiated input instruction
Example
0001.03
ON execution condition created for one
cycle only when CIO 0001.03 goes from
OFF to ON.
279
Appendix A
Programming
• Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status,
makes comparisons, tests bits, or perform other types of processing every cycle and will output an
OFF execution condition (power flow stops) when results switch from OFF to ON. The execution condition will turn ON the next cycle.
Upwardly differentiated input instruction
0001.03
Example
OFF execution condition created for one
cycle only when CIO 0001.03 goes from
OFF to ON.
• Downwardly Differentiated Instructions (Instruction preceded by %)
• Output instructions: The instruction is executed only during the cycle in which the input condition
turned OFF (ON → OFF) and is not executed in the following cycles.
(%) Downwardly differentiated instruction
Example
0001.02
%SET
Executes the SET instruction once when
CIO 0001.02 goes ON to OFF.
• Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status,
makes comparisons, tests bits, or perform other types of processing every cycle and will output the
execution condition (power flow) when results switch from ON to OFF. The execution condition will turn
OFF the next cycle.
Downwardly differentiated instruction
Example 0001.03
Will turn ON when the CIO 0001.03
switches from ON → OFF and will turn
OFF after one cycle.
Note Unlike the upwardly differentiated instructions, downward differentiation variation (%) can be
added only to LD, AND, OR, SET and RSET instructions. To execute downward differentiation
with other instructions, combine the instructions with a DIFD instruction.
• Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status,
makes comparisons, tests bits, or perform other types of processing every cycle and will output an
OFF execution condition (power flow stops) when results switch from ON to OFF. The execution condition will turn ON the next cycle.
Downwardly differentiated input instruction
Example
0001.03
OFF execution condition created for one
cycle only when CIO 0001.03 goes from
ON to OFF.
280
Appendix A
Programming
Programming Precautions
Condition Flags
Using Condition Flags
Condition flags are shared by all instructions, and will change during a cycle depending on results of executing
individual instructions. Therefore, be sure to use Condition Flags on a branched output with the same input
condition immediately after an instruction to reflect the results of instruction execution. Never connect a Condition Flag directly to the bus bar because this will cause it to reflect execution results for other instructions.
Example: Using Instruction A Execution Results
Correct Use
Mnemonic
a
Instruction A
Condition Flag
Example: =
Reflects instruction A
execution results.
Instruction Operand
LD
Instruction A
AND
Instruction B
a
=
Instruction B
The same input condition (a) is used for instructions A and B to execute instruction B based on the execution
results of instruction A. In this case, instruction B will be executed according to the Condition Flag only when
instruction A is executed.
Incorrect Use
Preceding rung
Instruction A
Condition Flag
Example: =
Reflects the execution results of
the preceding rung if instruction
A is not executed.
Instruction B
If the Condition Flag is connected directly to the left bus bar, instruction B will be executed based on the execution results of a previous rung if instruction A is not executed.
Note Condition Flags are used by all instruction within a single program (task) but they are cleared when the
task switches. Therefore execution results in the preceding task will not be reflected later tasks.
281
Appendix A
Programming
Since condition flags are shared by all instructions, make absolutely sure that they do not interfere with each
other within a single ladder-diagram program. The following are examples.
1. Using Execution Results in NC and NO Inputs
The Condition Flags will pick up instruction B execution results as shown in the example below even though
the NC and NO input bits are executed from the same output branch.
Instruction A
Incorrect
Use
Reflects instruction A
Condition Flag execution results.
Example: =
Instruction B
Reflects instruction B
Condition Flag execution results.
Example: =
Make sure each of the results is picked up once by an OUTPUT instruction to ensure that execution results
for instruction B will be not be picked up.
Reflects instruction A
execution results.
Correct
Use
Condition Flag
Example: =
Condition Flag
Example: =
Instruction A
C
Reflects instruction A
execution results.
D
C
Instruction B
D
282
Appendix A
Programming
Example: The following example will move #0200 to D00200 if D00100 contains #0010 and move #0300
to D00300 if D00100 does not contain #0010.
CMP
䋤0010
D00100
Incorrect
Use
Reflects CMP execution results.
=
MOV
(1)
䋤0200
D00200
Reflects MOV execution results.
MOV
=
(2)
䋤0300
D00300
The Equals Flag will turn ON if D00100 in the rung above contains #0010. #0200 will be moved to D00200
for instruction (1), but then the Equals Flag will be turned OFF because the #0200 source data is not 0000
hex. The MOV instruction at (2) will then be executed and #0300 will be moved to D00300. A rung will
therefore have to be inserted as shown below to prevent execution results for the first MOVE instruction
from being picked up.
CMP
#0010
Correct
Use
D00100
=
A
=
B
A
MOV
#0200
D00200
B
MOV
#0300
D00300
283
Appendix A
Programming
2. Using Execution Results from Differentiated Instructions
With differentiated instructions, execution results for instructions are reflected in Condition Flags only when
input condition is met, and results for a previous rung (rather than execution results for the differentiated instruction) will be reflected in Condition Flags in the next cycle. You must therefore be aware of what Condition Flags will do in the next cycle if execution results for differentiated instructions to be used.
In the following for example, instructions A and B will execute only if input condition C is met, but the following problem will occur when instruction B picks up execution results from instruction A. If input condition C
remains ON in the next cycle after instruction A was executed, then instruction B will unexpectedly execute
(by the input condition) when the Condition Flag goes from OFF to ON because of results reflected from a
previous rung.
Previous rung
Incorrect
Use
C
@ Instruction A
Reflects execution results for instruction A
when execution condition is met.
Reflects execution results for a previous
rung in the next cycle.
Condition Flag
Example: =
@ Instruction B
In this case then, instructions A and B are not differentiated instructions, the DIFU(013) (or DIFD(014))
instruction is used instead as shown below and instructions A and B are both upwardly (or downwardly) differentiated and executed for one cycle only.
Previous rung
Correct
Use
C
DIFU
D
D
Instruction A
Reflects instruction A execution results.
Condition Flag
Example: =
Instruction B
Main Conditions Turning ON Condition Flags
Error Flag
The ER Flag will turn ON under special conditions, such as when operand data for an instruction is incorrect.
The instruction will not be executed when the ER Flag turns ON.
When the ER Flag is ON, the status of other Condition Flags, such as the <, >, OF, and UF Flags, will not
change and status of the = and N Flags will vary from instruction to instruction.
Refer to the descriptions of individual instructions in the Instructions Reference Manual (O011) for the conditions that will cause the ER Flag to turn ON. Caution is required because some instructions will turn OFF the
ER Flag regardless of conditions.
284
Appendix A
Programming
Equals Flag
The Equals Flag is a temporary flag for all instructions except when comparison results are equal (=). It is set
automatically by the system, and it will change. The Equals Flag can be turned OFF (ON) by an instruction
after a previous instruction has turned it ON (OFF). The Equals Flag will turn ON, for example, when MOV or
another move instruction moves 0000 hex as source data and will be OFF at all other times. Even if an instruction turns the Equals Flag ON, the move instruction will execute immediately and the Equals Flag will turn ON
or OFF depending on whether the source data for the move instruction is 0000 hex or not.
Carry Flag
The CY Flag is used in shift instructions, addition and subtraction instructions with carry input, and addition and
subtraction instructions with borrows and carries. Note the following precautions.
1. The CY Flag can remain ON (OFF) because of execution results for a certain instruction and then be used
in other instruction (an addition and subtraction instruction with carry or a shift instruction). Be sure to clear
the Carry Flag when necessary.
2. The CY Flag can be turned ON (OFF) by the execution results for a certain instruction and be turned OFF
(ON) by another instruction. Be sure the proper results are reflected in the Carry Flag when using it.
Less Than and Greater Than Flags
The < and > Flags are used in comparison instructions.
The < or > Flag can be turned OFF (ON) by another instruction even if it is turned ON (OFF) by execution
results for a certain instruction.
Negative Flag
The N Flag is turned OFF when the leftmost bit of the instruction execution results word is “1” for certain
instructions and it is turned OFF unconditionally for other instruction.
Specifying Operands for Multiple Words
An instruction will be executed as written even if an operand requiring multiple words is specified so that all of
the words for the operand are not in the same area. In this case, words will be taken in order of the memory
addresses. The Error Flag will not turn ON.
As an example, consider the results of executing a block transfer with XFER(070) if 20 words are specified for
transfer beginning with W250. Here, the Work Area, which ends at W255, will be exceeded, but the instruction
will be executed without turning ON the Error Flag. In the memory addresses, words reserved by the system
come after the Work Area, and thus for the following instruction, W250 to W255 will be transferred to D00000 to
D00005 and contents of the system-reserved words will be transferred to D00006 to D00019.
W250
XFER
to
&20 Number of words
W250 First source word
D00000 First destination word
W255
--------Reserved
by system
D00000
Transferred.
to
D00005
D00006
to
D00019
285
Appendix A
Programming
Special Program Sections
FQM1 programs have special program sections that will control instruction conditions.
The following special program sections are available.
Program section
Subroutine
Instructions
SBS(091), JSB(982),
SBN(092), and RET(093)
instructions
IL(002) - ILC(003) section IL(002) and ILC(003)
instructions
Step Ladder section
STEP(008) instruction
Block program section
Instruction condition
Status
Subroutine program
The subroutine program section
being executed.
between SBN(092) and RET(093)
instructions is being executed.
Section is interlocked
BPRG(096) instructions and Block program being
BEND(801) instructions
executing.
The output bits are turned OFF and
timers are reset. Other instructions will
not be executed and previous status
will be maintained.
The block program listed in mnemonics
between the BPRG(096) and
BEND(801) instructions is being executed.
Instruction Combinations
The following table shows which of the special instructions can be used inside other program sections.
Subroutine
Subroutine
IL(002) - ILC(003)
Not possible.
OK
Step ladder section
Not possible.
Block program section OK
IL(002) ILC(003)
section
Step ladder
section
Block program
section
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
OK
OK
Not possible.
OK
Not possible.
Not possible.
Note Instructions that specify program areas cannot be used between two different tasks.
Subroutines
Place all the subroutines together just before the END(001) instruction in all programs but after programming
other than subroutines. A subroutine cannot be placed in a step ladder, block program, or other subroutine. If
instructions other than a subroutine program are placed after a subroutine program (SBN(092) to RET(093)),
those instructions will not be executed.
Program
Subroutine
Program
Subroutine
286
Appendix A
Programming
Instructions Not Allowed in Subroutines
The following instructions cannot be placed in a subroutine.
Function
Mnemonic
Ladder Step Control
STEP(008)
SNXT(009)
Instruction
Define step ladder section
Step through the step ladder
Note Block Program Sections
A subroutine can include a block program section.
Instructions Not Allowed in Step Ladder Program Sections
Function
Sequence Control
Mnemonic
Instruction
END(001)
END
IL(002) and ILC(003)
JMP(004) and JME(005)
INTERLOCK and INTERLOCK CLEAR
JUMP and JUMP END
Subroutines
SBN(092) and RET(093)
Block Programs IF(802) (NOT), ELSE(803), and IEND(804)
BPRG(096) and BEND(801)
SUBROUTINE ENTRY and SUBROUTINE RETURN
Branching instructions
BLOCK PROGRAM BEGIN/END
Note A step ladder program section can be used in an interlock section (between IL(002) and ILC(003)). The
step ladder section will be completely reset when the interlock is ON.
Instructions Not Allowed in Block Program Sections
The following instructions cannot be placed in block program sections.
Classification by
Function
Sequence Control
IL(002) and ILC(003)
INTERLOCK and INTERLOCK CLEAR
Sequence Output
END(001)
DIFU(013)
END
DIFFERENTIATE UP
DIFD(014)
KEEP(011)
DIFFERENTIATE DOWN
KEEP
OUT
OUT NOT
OUTPUT
OUTPUT NOT
TIM
TIMH
TIMER
HIGH-SPEED TIMER
TMHH(540)
CNT
ONE-MS TIMER
COUNTER
Subroutines
CNTR
SBN(092) and RET(093)
REVERSIBLE COUNTER
SUBROUTINE ENTRY and SUBROUTINE RETURN
Data Shift
Ladder Step Control
SFT(010)
STEP(008) and SNXT(009)
SHIFT
STEP DEFINE and STEP START
Block Program
BPRG(096)
BLOCK PROGRAM BEGIN
Timer/Counter
Note
Mnemonic
Instruction
(1) Block programs can be used in a step ladder program section.
(2) A block program can be used in an interlock section (between IL(002) and ILC(003)). The block program section will not be executed when the interlock is ON.
(3) A JUMP instruction (JMP(004)) can be used in a block program section, but the JUMP (JMP(004))
and JUMP END (JME(005)) instructions must be used in a pair within the block program section.
The program will not execute properly unless these instructions are paired.
287
Appendix A
Programming
Computing the Cycle Time
FQM1 Operation Flowchart
The Coordinator Module and Motion Control Modules process data in repeating cycles from the overseeing
processing up to peripheral servicing as shown in the following diagram.
Startup initialization
Power ON
Checks Module
connection status.
YES
Sets error flags
Flashing (nonfatal error)
ERR indicator lit or
flashing?
Executes user program (i.e., executes
cyclic task).
Lit (fatal error)
End of program?
NO
Sync bus refreshing
Services Peripheral
Devices
288
I/O refreshing
Sync bus
refreshing
Performs I/O refreshing
Peripheral
servicing
Calculates cycle time
Cycle time
calculation
YES
Resets watchdog timer
and waits until the set
cycle time has elapsed
Cycle time
Check OK?
Program execution
NO
Overseeing processing
Checks hardware and
user program memory
Appendix A
Programming
Overview of Cycle Time Calculations
Coordinator Module
The cycle time of the Coordinator Module will vary with the following factors.
• Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which
the execution conditions have been satisfied)
• Type and number of Motion Control Modules
• Setting a constant cycle time in the System Setup
• Event servicing with the Motion Control Modules
• Use of peripheral, RS-232C, and RS-422A ports
• Setting the Set Time to All Events in the System Setup
Note
(1) The cycle time is not affected by the number of tasks that are used in the user program.
(2) When the mode is switched from MONITOR mode to RUN mode, the cycle time will be extended by
10 ms (this will not, however, will not create a cycle time exceeded error).
Motion Control Modules
The cycle time of the Motion Control Module will vary with the following factors.
• Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which
the execution conditions have been satisfied)
• Setting a constant cycle time in the System Setup
• Event servicing with the Coordinator Module
Note
(1) The cycle time is not affected by the number of tasks that are used in the user program.
(2) When the mode is switched from MONITOR mode to RUN mode, the cycle time will be extended by
10 ms (this will not, however, will not create a cycle time exceeded error).
Calculating the Cycle Time of the Coordinator Module
The cycle time is the total time required for the Coordinator Module to perform the operations shown in the following tables.
Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)
1. Overseeing Process
Details
Checks the buses, user program memory, etc.
Processing time and fluctuation cause
39 µs
2. Program Execution
Details
Processing time and fluctuation cause
Executes the user program. This is the total time taken for 40 µs + total instruction execution time
the instructions to execute the program.
3. Cycle Time Calculation
Details
Waits for the specified cycle time to elapse when a constant (minimum) cycle time has been set in the System
Setup. Calculates the cycle time.
Processing time and fluctuation cause
Cycle time calculation: 8 µs
Waiting time for a constant cycle time =
Set cycle time − Actual cycle time
4. I/O Refreshing
Details
Processing time and fluctuation cause
The built-in I/O on the Coordinator Module are refreshed. 5 µs
Coordinator Module I/O refresh time
289
Appendix A
Programming
5. Sync Bus Refreshing
Details
Processing time and fluctuation cause
The sync bus between the Coordinator Module and
Motion Control Modules is refreshed.
Async Mode: 0 µs
Sync Mode: 170 µs min. (depends on number of Motion
Control Modules)
6. Cyclic Refreshing
Details
Processing time and fluctuation cause
The allocated bit areas are refreshed.
4 µs + Cyclic refresh time (40 µs) x Number of Motion
Control Modules
7. Peripheral Service
Details
Processing time and fluctuation cause
Peripheral service overhead: 76 µs If a uniform peripheral servicing time hasn’t been set as the Set Time to All
Events in the System Setup, 6.25% of the previous cycle time (calculated in step
Event servicing with Motion Con(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
trol Modules
has been set in the System Setup, servicing will be performed for the set time. At
Note Does not include I/O
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
refreshing.
set or not. If no Modules are connected, the servicing time is 0 ms.
Peripheral port servicing
If a uniform peripheral servicing time hasn’t been set as the Set Time to All
Events in the System Setup, 6.25% of the previous cycle time (calculated in step
(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If the port is not connected, the servicing time is 0 ms.
Same as for peripheral port servicing.
RS-232C port servicing
RS-422A port servicing
If a uniform peripheral servicing time hasn’t been set as the Set Time to All
Events in the System Setup, 6.25% of the previous cycle time (calculated in step
(3)) will be allowed for peripheral servicing. If a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If the communications port is not used, the servicing time is 0 ms.
Calculating the Cycle Time of a Motion Control Module
The cycle time is the total time required for the Motion Control Module to perform the operations shown in the
following tables.
Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)
1. Overseeing Process
Details
User program check, etc.
Processing time and fluctuation cause
29 µs
2. Program Execution
Details
Processing time and fluctuation cause
Executes the user program. This is the total time taken for 40 µs + total instruction execution time
the instructions to execute the program.
3. Cycle Time Calculation
Details
Waits for the specified cycle time to elapse when a constant (minimum) cycle time has been set in the System
Setup. Calculates the cycle time.
290
Processing time and fluctuation cause
Cycle time calculation: 8 µs
Waiting time for a constant cycle time =
Set cycle time − Actual cycle time (1 + 2 + 4 + 5)
Appendix A
Programming
4. I/O Refreshing
Details
Processing time and fluctuation cause
The built-in I/O and special inputs (pulse/analog) on the
Motion Control Module are refreshed.
MMP21: 48 µs
MMA21: 135 µs
Motion Control Module I/O refresh time
5. Cyclic Refreshing
Details
Processing time and fluctuation cause
Cyclic refresh with the Coordinator Module
21 µs
6. Sync Bus Refreshing
Details
The sync bus between the Coordinator Module and
Motion Control Modules is refreshed.
Processing time and fluctuation cause
60 µs
7. Peripheral Service
Details
Event servicing with Motion Control Modules
Processing time and fluctuation cause
40 µs + Event service time
Event service time includes event servicing for DM area transfers requested by
the Coordinator Module, event processing for requests from the CX-Programmer, etc.
Module I/O Refresh Times
Cyclic Refresh Time in the Coordinator Module
Model
FQM1-MMP21/MMA21
I/O refresh time
40 µs per Module
Cyclic Refresh Time in Motion Control Modules
Model
FQM1-MMP21/MMA21
I/O refresh time
21 µs
291
Appendix A
Programming
Example of Calculating the Cycle Time
An example is given here for FQM1-MMP21 Motion Control Modules connected to a Coordinator Module.
Conditions
Item
Motion Control Modules
Condition
FQM1-MMP21
2 Modules
User program
5 Ksteps
Peripheral port connection
Constant cycle time setting
None
None
RS-232C port connection
RS-422A port connection
None
None
Other peripheral servicing
None
LD: 2.5 Ksteps
OUT: 2.5 Ksteps
Calculation Example for FQM1-MMP21
Process
Calculation
1. Overseeing
---
Processing time
Without CX-Programmer
connected to peripheral port
0.029 ms
2. Program execution
3. Cycle time calculation
40 µs + 0.1 µs × 500 + 0.35 µs × 500
(No cycle time set)
0.265 ms
0.008 ms
4. I/O refresh
5. Cyclic refresh
0.048 ms
0.021 ms
6. Sync bus Refresh
7. Peripheral servicing
(In Async Mode: 0 ms)
0.04 ms
Cycle time
1. + 2. + 3. + 4. + 5. + 7.
0.411 ms
Online Editing Cycle Time Extension
When online editing is executed from the CX-Programmer while the FQM1 is operating in MONITOR mode to
change the program, the Coordinator Module will momentarily suspend operation while the program is being
changed. The period of time that the cycle time is extended is determined by the following conditions.
• The number of steps that is changed
• Editing operations (insert/delete/overwrite)
• Instructions used
The cycle time extension for online editing will be negligibly affected by the size of largest task program. If the
maximum program size for each task is 5 Ksteps, the online editing cycle time extension will be as shown in the
following table.
Module
FQM1-CM001
FQM1-MMP21/MMA21
Online editing cycle time extension
65 ms max., 14 ms typical
(for a program size of 5 Ksteps)
When editing online, the cycle time will be extended by the above time.
Note When there is only one task, online editing is processed entirely in the cycle time following the cycle in
which online editing is executed. When there are multiple tasks (cyclic task and interrupt tasks), online
editing is separated, so that for n tasks, processing is executed over n to n × 2 cycles max.
292
Appendix A
Programming
Response Time
I/O Response Time
The I/O response time is the time it takes from when an built-in input on a Module turns ON, the data is recognized by the Module, and the user program is executed, up to the time for the result to be output to the built-in
output terminals. The length of the I/O response time depends on the following conditions.
• Timing of input bit turning ON
• Cycle time
Coordinator Module I/O Response Time
Minimum I/O Response Time
The I/O response time is shortest when data is retrieved immediately before I/O refresh of the Coordinator
Module. The minimum I/O response time is the total of the Input ON delay, the Cycle time, and the Output ON
delay.
I/O refresh
Input
Input ON delay
(Read by
Module)
Cycle time
Cycle time
Instruction
execution
Instruction
execution
Output ON delay
Output
Minimum I/O
response time
Maximum I/O Response Time
The I/O response time is longest when data is retrieved immediately after I/O refresh of the Coordinator Module. The maximum I/O response time is the total of the Input ON delay, (the Cycle time × 2), and the Output ON
delay.
I/O refresh
Input
Input ON delay
(Read by
Module)
Cycle time
Cycle time
Instruction
execution
Instruction
execution
Instruction
execution
Output ON delay
Output
Maximum I/O response time
Calculation Example
Conditions: Input ON delay:
Output ON delay:
Cycle time:
0.1 ms
0.1 ms
2 ms
Minimum I/O response time = 0.1 ms + 2 ms + 0.1 ms = 2.2 ms
Maximum I/O response time = 0.1 ms + (2 ms × 2) + 0.1 ms = 4.2 ms
293
Appendix A
Programming
Motion Control Module I/O Response Time
Minimum I/O Response Time (General-purpose I/O 0 to 3)
The I/O response time is shortest when the input refresh is executed immediately after a Motion Control Module detects an input, as shown in the figure below.
The minimum I/O response time is the total of the Input ON delay, the Cycle time, and the Output ON delay.
I/O refresh
Input contact
Overseeing processing
Input ON delay
Input bit
Cycle time
Instruction execution
Internal processing
Instruction execution
Cyclic output refresh
Output ON delay
Output contact
• Cyclic Output Refresh Time
Minimum I/O response time = 0.03 + 0.194 + 0.1 = 0.324 (ms)
Note Input interrupts and the IORF(097) instruction can be used to obtain a faster response (100 µs typical).
Maximum I/O Response Time
The I/O response time is longest when a Motion Control Module detects an input immediately after input
refresh has been executed, as shown in the figure below. The response time will be one cycle longer than for
the minimum I/O response time.
The maximum I/O response time is the total of the Input ON delay, (the Cycle time × 2), and the Output ON
delay.
Input
contact
I/O refresh
Input ON delay
Overseeing processing
Input bit
Cycle time
Internal processing
Instruction execution
Instruction execution
Instruction execution
Cyclic output refresh
Output ON delay
Output contact
• Cyclic Output Refresh Time
Maximum I/O response time = 0.03 + 0.388 + 0.1 = 0.518 (ms)
294
Appendix A
Programming
Calculation Example
Input ON delay:
Overhead time:
Instruction execution time:
Output ON delay:
Position of OUT:
0.03 ms
0.193 ms
0.001 ms
0.1 ms
Beginning of program.
I/O Response Time for Pulse and Analog I/O
As shown in the following diagram, an MPU in the Motion Control Module directly controls pulse and analog I/O
processing with hardware. The cycle time for pulse and analog I/O is thus included in the cycle time of a Motion
Control Module. Hardware control means that the most recent data is handled for this I/O.
Pulse inputs
read
Analog output
conversion
Analog input
conversion
I/O refresh
Overseeing Processing
Internal
processing
Instruction execution
Instruction execution
Pulse/analog
input
Pulse/analog
output
Analog
output
The pulse and analog input data read with the I/O refresh in one cycle will thus be used immediately and can
be output from the ladder program in the next cycle.
Interrupt Response Times
Motion Control Module Interrupt Response Times
Input Interrupt Tasks
The interrupt response time for an input interrupt task is the time required from when a built-in input on a
Motion Control Module turns ON (upward differentiation) or turns OFF (downward differentiation) until the input
interrupt task is actually executed. The interrupt response time for an input interrupt task would be the total of
the hardware and software response times given in the following table.
• Response Times for Built-in Inputs
Item
Hardware response time
Software response time
Note
Description
Upward differentiation: 0.03 ms
Downward differentiation: 0.2 ms
72 to 82 µs (See note 2.)
(1) Input interrupt tasks can be executed during execution of the user program, I/O refresh, peripheral
servicing, or overseeing processes. (During user program execution, instruction execution is suspended to execute the interrupt task.) The response time is not affected by the type of process being
executed when the input interrupt is generated. An input interrupt task, however, will not be executed
immediately if another interrupt task is already being executed. Execution of the next interrupt task
will wait until the current interrupt task has completed execution and then interrupt tasks will be executed in order of priority after the Software interrupt response time.
(2) For the FQM1-MMA21, interrupt processing is prohibited during analog I/O conversion. A minimum
of 72 to 130 µs will be required.
(3) If an interrupt occurs during an instruction that is processed using hardware, interrupt task execution
will be postponed until the instruction has finished execution. A minimum of 10 µs will be required.
The interrupt response time for an input interrupt task is shown below.
Input interrupt response time = Input ON delay + Software interrupt response time
295
Appendix A
Programming
Input
Input ON delay time
Interrupt signal
accepted
Software interrupt response time
Accepting next
interrupt signal
enabled
Interrupt task
executed
Input interrupt task
interrupt response time
Task program
execution time
Return time from
input interrupt task
Cyclic task execution
(main program)
61 µs is required from when execution of input interrupt task
program is completed until returning to cyclic task execution.
Scheduled Interrupt Task
The interrupt response time of scheduled interrupt tasks is the time taken from after the scheduled time specified by the STIM(980) instruction has elapsed until the interrupt task is actually executed. The maximum interrupt response time for scheduled interrupt tasks is 0.1 ms.
Also, a dedicated timer is used for the specified scheduled interrupt time (minimum of 0.5 ms), so there is
essentially no error in the time.
Note Scheduled interrupt tasks can be executed during execution of the user program, I/O refresh, peripheral
servicing, or overseeing processes. (During user program execution, instruction execution is suspended
to execute the interrupt task.) The response time is not affected by the type of process being executed
when the input interrupt is generated. A schedule interrupt task, however, will not be executed immediately if another interrupt task is already being executed. Execution of the next scheduled interrupt task
will wait until the current interrupt task has completed execution and then start after the software interrupt response time.
Scheduled interrupt time
Internal timer
Software interrupt response time
Scheduled interrupt
task
Motion Control Module Interrupt Processing Times
This section describes the processing time required to generate the interrupt and call the interrupt task, and
the processing time to return to the original location after completing the interrupt task. This information applies
to the following four types of interrupt.
• Input interrupts
• Interval timer interrupts
• High-speed counter interrupts
• Pulse output interrupts
296
Appendix A
Programming
Processing Time
The time required from when the interrupt factor occurs until the interrupt task is called and the time required
from completing the interrupt task until program execution returns to the original position are shown below.
Item
1
Description
Time
Interrupt input ON delay This is the additional time required from when the interrupt input contact turns 30 µs
ON until the interrupt is generated. This time applies only to input interrupts.
↓
Interrupt condition established
↓
2
↓
3
Waiting for interrupt pro- Time may be required to wait for interrupt prohibition to be released. See
hibition to be released
below for details.
See below.
Switchover time
72 µs
This is the time required to switch over to interrupt processing.
↓
Interrupt processing routine executed
↓
4
Return
This is the time from the END(001) in the interrupt task until returning to the
process that was being performed when the interrupt occurred.
• Online Editing:
61 µs
If online editing is performed during operation, operation will be
stopped for a maximum of 65 ms, during which time interrupts
will be prohibited and the program will be overwritten.
• Data Exchange with Coordinator Module: Interrupts will be prohibited for 10 µs when data is exchanged
with the Coordinator Module.
• Analog I/O Refreshing:
Interrupts will be prohibited for approximately 40 µs while analog
conversion is being performed for analog I/O.
• Hardware-supported Instructions:
Some FQM1 ladder instructions are implemented using hardware. Interrupts will be placed on standby during execution of
hardware-supported instructions that require time to process,
such as XFER(070) and BSET(071).
Interrupt Response Time Calculation Example
The interrupt response times from the interrupt input turning ON until the interrupt task is started for when an
input interrupt occurs under the following conditions are given below.
• No 1-ms timers are being used.
• No non-fatal errors occur or are cleared.
• Online editing is not performed.
Minimum Response Time
Interrupt input ON delay:
10 µs
Interrupt prohibition release time: 0 µs
+
Switchover time:
72 µs
Total: Minimum response time:
82 µs
Maximum Response Time
Interrupt input ON delay:
30 µs
Interrupt prohibition release time: 10 µs
+
Switchover time:
72 µs
Total: Minimum response time:
Note
112 µs
(1) To return to the process being performed before the interrupt occurred, the execution time of the
interrupt task and 61 µs are required in addition to the above response time.
297
Programming
Appendix A
(2) When using interrupt tasks frequently, be sure to consider the time required for interrupt processing
and its affect on the overall system.
(3) The results of executing an interrupt task can be output immediately from within the interrupt task
by using the IORF(097) instruction. (This can also be performed to output the results of execution
in the main program immediately after execution.)
(4) The results of executing an interrupt task can be output immediately from within the interrupt task
by selecting Immediate refresh in the System Setup and then using the SPED(885) and ACC(888)
instructions. (This can also be performed to output the results of execution in the main program immediately after execution.)
298
Appendix B
I/O Memory
Overview of I/O Memory
Introduction
This section describes the I/O Memory and other parts of memory in the Modules other than that containing the
user program.
I/O Memory
This region of memory contains the data areas which can be accessed by instruction operands. The data
areas include the CIO Area, Work Area, Auxiliary Area, DM Area, Timer Area, Counter Area, Index Registers,
Condition Flag Area, and Clock Pulse Area.
Instruction
I/O Memory
S
D
Parameter Area
This region of memory contains various settings that cannot be specified by instruction operands; they can be
specified from the CX-Programmer only. The settings include the System Setup.
CX-Programmer
Parameter Area
299
Appendix B
I/O Memory
I/O Memory Structure
Coordinator Module
The following table shows the basic structure of the I/O Memory for the Coordinator Module.
Area
CIO
Area
Size
Range
Task
usage
External
Bit
Word
Access
Change
I/O allo- access access
from
Read
Write
cation
CX-Programmer
Status
at
power
ON
Cleared
Status Forcing
at
bit
mode
change status
I/O Area
24 bits
(2
words)
CIO 0000 Shared
to
by all
CIO 0001 tasks
OK
Coordinator
Module
OK
OK
OK
OK
OK
Cleared
OK
Serial PLC
Link Area
320 bits
(20
words)
CIO 0080
to
CIO 0099
---
OK
OK
OK
OK
OK
OK
Cyclic
Refresh Bit
Area
600 bits
(40
words)
CIO 0100
to
CIO 0139
---
OK
OK
OK
OK
OK
OK
Synchronous Data
Link Bit
Area
320 bits
(20
words)
CIO 0200
to
CIO 0219
---
OK
OK
OK
OK
OK
OK
Internal I/O
Areas
2,784
bits
(174
words)
CIO 0002
to
CIO 0079
CIO 0140
to
CIO 0199
CIO 0220
to
CIO 0255
---
OK
OK
OK
OK
OK
OK
Work Area
4,096
W000 to
bits (256 W255
words)
---
OK
OK
OK
OK
OK
Cleared
Cleared
OK
Auxiliary Area
10,400
A000 to
bits (650 A649
words)
---
OK
OK
OK
OK
OK
Cleared
Maintained
No
TR Area
16 bits
TR0 to
TR15
---
OK
---
OK
OK
No
Cleared
Cleared
No
DM Area
30,000
words
D00000
to
D29999
---
No
OK
OK
OK
OK
Cleared
Maintained
No
2,768
words
D30000
to
D32767
---
No
OK
OK
OK
OK
Maintained
(See
note.)
Maintained
No
Timer Area
256
words
T0000 to
T0255
---
OK
---
OK
OK
OK
Cleared
Cleared
OK
Counter Area
256
words
C0000 to
C0255
---
OK
---
OK
OK
OK
Cleared
Maintained
OK
Note When data is written from the CX-Programmer or a host controller, these DM Area words are backed up
in flash memory. The contents of flash memory is read out each time the power is turned ON.
300
Appendix B
I/O Memory
Motion Control Modules
The following table shows the basic structure of the I/O Memory Area for the Motion Control Modules.
Area
CIO
Area
Size
Range
Task
usage
External
Bit
Word
Access
Change
I/O allo- access access
from
Read
Write
cation
CX-Programmer
Status
at
power
ON
Cleared
Status Forcing
at
bit
mode
change status
I/O Area
20 bits
(2
words)
CIO 0000 Shared
to
by all
CIO 0001 tasks
OK
Motion
Control
Module
OK
OK
OK
OK
OK
Cleared
OK
Cyclic
Refresh Bit
Area
160 bits
(10
words)
CIO 0100
to
CIO 0109
---
OK
OK
OK
OK
OK
OK
Synchronous Data
Link Bit
Area
320 bits
(20
words)
CIO 0200
to
CIO 0219
---
OK
OK
OK
OK
OK
OK
Internal I/O
Areas
3,584
bits
(224
words)
CIO 0002
to
CIO 0099
CIO 0110
to
CIO 0199
CIO 0220
to
CIO 0255
---
OK
OK
OK
OK
OK
OK
Work Area
4,096
W000 to
bits (256 W255
words)
---
OK
OK
OK
OK
OK
Cleared
Cleared
OK
Auxiliary Area
10,400
A000 to
bits (650 A649
words)
---
OK
OK
OK
OK
OK
Cleared
Maintained
No
TR Area
16 bits
TR0 to
TR15
---
OK
---
OK
OK
No
Cleared
Cleared
No
DM Area
30,000
words
D00000
to
D29999
---
No
OK
OK
OK
OK
Cleared
Maintained
No
2,768
words
D30000
to
D32767
---
No
OK
OK
OK
OK
Maintained
(See
note.)
Maintained
No
Timer Area
256
words
T0000 to
T0255
---
OK
---
OK
OK
OK
Cleared
Cleared
OK
Counter Area
256
words
C0000 to
C0255
---
OK
---
OK
OK
OK
Cleared
Maintained
OK
Note These DM Area words are backed up by a super capacitor. If the Memory Not Held Flag (A404.14) is
ON, these words are cleared to all zeros.
301
Appendix B
I/O Memory
CIO Area
Overview
It is not necessary to input the “CIO” prefix when specifying an address in the CIO Area. The CIO Area is generally used for data exchanges, such as I/O refreshing between Modules (Coordinator Module and Motion
Control Modules). Words that are not allocated to Modules may be used as work words and work bits in the
program only.
15
0
CIO 0000
I/O Bit Area
CIO 0001
(CIO 0002)
Work Area
(CIO 0080)
(CIO 0099) Serial PLC Link Bit Area
CIO 0100
Cyclic Refresh Bit Area
(CIO 0139)
CIO 0140
Work Area
CIO 0199
CIO 0200
Synchronous Data
Link Bit Area
CIO 0219
CIO 0220
Work Area
CIO 0255
Note The above figure depicts the CIO Area of the Coordinator Module. For the Motion Control Module, the
following area ranges are different.
• Serial PLC Link Bit Area: Not provided
• Cyclic Refresh Bit Area: CIO 0100 to CIO 0109
• Work Area: CIO 0002 to CIO 0099
CIO 0110 to CIO 0199
The CIO Area includes the following four areas.
• I/O Bit Area
• Cyclic Refresh Bit Area
• Synchronous Data Link Bit Area
• Work Areas
• Serial PLC Link Bit Areas (Coordinator Module only)
I/O Bit Area: CIO 0000 and CIO 0001
These words are allocated to built-in I/O terminals the Coordinator Module or Motion Control Module.
Cyclic Refresh Bit Area: CIO 0100 to CIO 0139 (CIO 0100 to CIO 0109 for Motion
Control Modules)
In the Coordinator Module, 10 words are refreshed every cycle for each Motion Control Module. These words
contain Motion Control Module status, general-purpose I/O, and other information. (Refreshing these words is
not necessarily synchronized with the Motion Control Module Cycles.)
302
Appendix B
I/O Memory
This area can be used to transfer information between Modules that does not required high-speed exchange.
The user can allocate the information to be transferred and the information can be used accessed from the ladder programs in the Coordinator Module and Motion Control Modules to coordinate programming.
Synchronous Data Link Bit Area: CIO 0200 to 0219
Each Module (Coordinator Module and Motion Control Modules) broadcasts up to two items (four words) of
data at the specified cycle. The data can be specified separately for each Module and is allocated for this area.
All of the linked Modules can access the data that is broadcast by other Modules.
Work Areas: CIO 0002 to CIO 0079, CIO 0140 to CIO 0199, and CIO 0220 to CIO 0255
(CIO 0002 to CIO 0099, CIO 0110 to CIO 0199, and CIO 0220 to CIO 0255 for Motion
Control Modules)
These words can be used only in the program; they cannot be used for I/O exchange with external I/O terminals. Be sure to use the work words provided in the Work Area before allocating words in the Internal I/O
Areas.
Serial PLC Link Bit Area: CIO 0080 to CIO 0099
These words are allocated for use with the Serial PLC Link, for data links with a PLC.
• CIO 0080 to (CIO 0080 + No. of linked words − 1): CJ1M to FQM1 Coordinator Module
• CIO 0090 to (CIO 0090 + No. of linked words − 1): FQM1 Coordinator Module to CJ1M
Addresses not used for Serial PLC Link can be used only in the program, the same as the Work Area.
I/O Refresh
The ON/OFF status of external devices and I/O bits is updated during the I/O refresh. In doing so, the ON/OFF
status of external devices, such as pushbuttons, limit switches, photoelectric sensors, and other input devices
is reflected in the input bits in the I/O Area (CIO 0000). Also, the status of output bits in the I/O Area (CIO 0001)
is output to actuators and other external devices.
There are two methods that can be used for the I/O refresh.
END Refresh
With an END refresh, all I/O is refreshed once every cycle after the entire user program has been executed.
Inputs
Mnemonic
Ladder
LD 0000.01
0001.01
Ladder
0000.01
Outputs
Mnemonic
OUT 0001.01
The ON/OFF status of the external switch connected to the The ON/OFF status of CIO 0001.01 allocated to the exterbuilt-in input terminal allocated to CIO 0000.01 is refreshed nal device connected to the built-in output terminal is output
once a cycle.
once a cycle.
Build-in
input
Coordinator Module
CIO 0001.01
Coordinator Module
Correspond
CIO 0000.01
Correspond
SW01
Actuator
Refreshed once each cycle
Built-in
output
Refreshed once each cycle
303
Appendix B
I/O Memory
Immediate Refresh
I/O can also be refreshed on the timing specified by the user using immediate refreshing. Any I/O refreshed
using an immediate refresh will also be refreshed for the END refresh.
Refreshing Using the IORF(097) Instruction
Inputs
IORF
0000
0001
When IORF(097) is executed for CIO
0000 and CIO 0001, the status of
input terminals are input to input bits
and the status of output bits is output
to output terminals.
Built-in
inpuits
Module
SW0
The status of
CIO 0000 is input
from the external
devices.
SW16
SW1
SW17
SW15
SW31
Status read just prior to execution
of IORF(097).
Outputs
IORF
0000
0001
Module
When IORF(097) is executed for CIO
0000 and CIO 0001, the status of
input terminals are input to input bits
and the status of output bits is output
to output terminals.
CIO 0001
Correspond
Built-in
outputs
Actuators
CIO 0101
The status of
CIO 0001 is output
to the external
devices.
IORF(097)
executed
Work Area: W000 to W255 (W000.00 to W255.15), 4,096 Bits
Words in the Work Area can be used only in the program; they cannot be used for I/O exchange with external
I/O terminals. Use this area for work words and bits before any other words in the CIO Area.
Auxiliary Area: A000 to A649 (A000.00 to A649.15)
The Auxiliary Area contains flags (controlled by the system) and control bits (controlled by the user) used to
monitor and control FQM1 operation. The functions of these flags and bits are predetermined and include error
flags from self-diagnosis, initial settings, operation controls, and operation status monitor data.
The bits and words in this area can be read and written from the program or from the CX-Programmer.
The bits in this area cannot be force-set or force-reset continuously.;
The CX-Programmer read/write operations include setting and resetting bits online (not forced), changing
present values from address monitor displays, and transfer operations to the FQM1 after editing FQM1 data
tables on the CX-Programmer. Refer to the CX-Programmer Operation Manual (Cat. No. W437) for details.
Temporary Relay Area (TR)
The TR Area contains bits that record the ON/OFF input condition status at program branches. The TR bits are
used with mnemonics only.
• TR0 to TR15 can be used in any order and any number of times.
• TR bits can be used only in OUT and LD instructions.
OUT instructions (OUT TR0 to OUT TR15) are used to store the input conditions at branch points. LD
instructions (LD TR0 to LD TR15) are used to read the input conditions previously stored at branch points.
304
Appendix B
I/O Memory
• Each TR bit can be used only once in one program section.
• The status of TR bits cannot be changed from the CX-Programmer.
TB bits are used in the following cases.
• When there are two outputs with different LD instructions after the last branch point:
Instruction
0000.00
0000.01
TR0 0000.02
0000.04
0002.03
0002.05
LD
OR
OUT
AND
OUT
LD
AND
OUT
Operand
0000.00
0000.01
TR 0
0000.02
0002.03
TR 0
0000.04
0002.05
• When there is no LD instruction on the lower rung after a branch point:
Instruction
0000.00
TR0 0000.01
0002.02
LD
OUT
AND
OUT
LD
OUT
0002.03
Operand
0000.00
TR 0
0000.01
0002.02
TR 0
0002.03
Note In the following cases, there are either no LD instructions after the branch points, or any LD instructions
are on the bottom rung. TR bits are not required in these types of branches.
0000.00
0002.01
0002.02
0000.00
0002.01
0000.02 0002.03
Instruction
LD
OUT
OUT
Instruction
LD
OUT
AND
OUT
Operand
0000.00
0002.01
0002.02
Operand
0000.00
0002.01
0000.02
0002.03
Timer Area
The 256 timer numbers (T0000 to T0255) are shared by the TIM, TIMH(015), and TMHH(540) instructions.
Timer Completion Flags and present values (PVs) for these instructions are accessed with the timer numbers.
When a timer number is used in an operand that requires bit data (e.g., in LD, AND, or OR instructions), the
timer number accesses the Completion Flag of the timer. When a timer number is used in an operand that
requires word data (e.g., in MOV(021) or CMP(020) instructions), the timer number accesses the PV of the
timer. Timer Completion Flags can be used as often as necessary as normally open and normally closed conditions and the values of timer PVs can be read as normal word data.
Timer Completion Flags can be force-set and force-reset.
Timer PVs cannot be force-set or force-reset, although the PVs can be refreshed indirectly by force-setting/
resetting the Completion Flag.
There are no restrictions in the order of using timer numbers or in the number of NC or NO conditions that can
be programmed. Timer PVs can be read as word data and used in programming.
Note It is not recommended to use the same timer number in two timer instructions because the timers will not
operate correctly if they are timing simultaneously. (If two or more timer instructions use the same timer
number, an error will be generated during the program check, but the timers will operate as long as the
instructions are not executed in the same cycle.)
305
Appendix B
I/O Memory
The following table shows when timer PVs and Completion Flags will be reset.
Instruction
TIMER: TIM
HIGH-SPEED TIMER:
TIMH(015)
Mode change
FQM1 startup
Operation in jumps
Operation in interlocks
between
(JMP-JME) or tasks on
(IL-ILC)
PROGRAM and
standby
RUN/MONITOR
PV → 0
PV → 0
PVs refreshed in operat- PV → SV
ing timers
(Reset to SV.)
Flag → OFF
Flag → OFF
Flag → OFF
ONE-MS TIMER:
TMHH(540)
Note The present value of TIM, TIMH(015), and TMHH(540) timers programmed will be updated even when
jumped between JMP and JME instructions.
Counter Area
The 256 counter numbers (C0000 to C0255) are shared by the CNT and CNTR(012) instructions.
Counter Completion Flags and present values (PVs) for these instructions are accessed with the
counter numbers.
When a counter number is used in an operand that requires bit data, the counter number accesses the
Completion Flag of the counter. When a counter number is used in an operand that requires word data,
the counter number accesses the PV of the counter.
Note It is not recommended to use the same counter number in two counter instructions because the
counters will not operate correctly if they are counting simultaneously. If two or more counter instructions
use the same counter number, an error will be generated during the program check, but the counters will
operate as long as the instructions are not executed in the same cycle.
The following table shows when counter PVs and Completion Flags will be reset.
Instruction
Reset
COUNTER: CNT
PV → 0000
Flag → OFF
REVERSIBLE
COUNTER: CNTR(012)
Mode change
between
PROGRAM and
RUN/MONITOR
Maintained
FQM1
startup
Reset
At reset input
Reset
Operation in
interlocks (ILILC)
Maintained
Counter Completion Flags can be force-set and force-reset.
Counter PVs cannot be force-set or force-reset, although the PVs can be refreshed indirectly by forcesetting/resetting the Completion Flag.
There are no restrictions in the order of using counter numbers or in the number of NC or NO conditions
that can be programmed. Counter PVs can be read as word data and used in programming.
306
Appendix B
I/O Memory
Data Memory (DM) Area
Word addresses
D00000
D30000
Held words
D32767
The DM Area contains 32,768 words with addresses ranging from D00000 to D32767. This data area is used
for general data storage and manipulation and is accessible only by word.
Data in D00000 to D29999 is cleared to all zeros when the power supply is cycled, but is held when the operating mode is changed from PROGRAM mode to RUN/MONITOR mode or vice-versa.
Data in the D30000 to D32767 is held when the FQM1’s power is cycled or the operating mode is changed
from PROGRAM mode to RUN/MONITOR mode or vice-versa. (These words are backed up by a super capacitor in a Motion Control Module and by flash memory in the Coordinator Module.)
Bits in the DM Area cannot be accessed directly and cannot be force-set or force-reset.
Words in the DM Area can be indirectly addressed in two ways: binary-mode and BCD-mode.
Binary-mode Addressing (@D)
When a “@” character is input before a DM address, the content of that DM word is treated as binary and the
instruction will operate on the DM word at that binary address. The entire DM Area (D00000 to D32767) can be
indirectly addressed with hexadecimal values 0000 to 7FFF.
Example: @D00100
0100
D00256
Address actually used.
BCD-mode Addressing (*D)
When a “*” character is input before a DM address, the content of that DM word is treated as BCD and the
instruction will operate on the DM word at that BCD address. Only part of the DM Area (D00000 to D09999)
can be indirectly addressed with BCD values 0000 to 9999.
Example: *D00100
0100
D00100
Address actually used.
Condition Flags
These flags include the Error Flag and Carry Flag, which indicate the results of instruction execution. In earlier
PLCs, these flags were in the SR Area.
The Condition Flags are specified with labels, such as CY and ER, or with symbols, such as P_Carry and
P_Instr_Error, rather than addresses. The status of these flags reflects the results of instruction execution, but
the flags are read-only; they cannot be written directly from instructions or CX-Programmer.
Note The CX-Programmer treats condition flags as global symbols beginning with P_.
All Condition Flags are cleared when the program switches tasks, so the status of the ER and AER flags are
maintained only in that cycle and in the task in which the error occurred.
307
Appendix B
I/O Memory
The Condition Flags cannot be force-set and force-reset except for the Carry Flag, which can be manipulated
with the STC(040) and CLC(041) instructions.
Summary of the Condition Flags
The following table summarizes the functions of the Condition Flags, although the functions of these flags will
vary slightly from instruction to instruction. Refer to the description of the instruction for complete details on the
operation of the Condition Flags for a particular instruction.
Name
Error Flag
Access Error Flag
Carry Flag
CX-Programmer
Function
symbol
P_ER
Turned ON when the operand data in an instruction is incorrect (an instruction
processing error) to indicate that an instruction ended because of an error.
P_AER
Turned ON when an Illegal Access Error occurs. The Illegal Access Error indicates that an instruction attempted to access an area of memory that should not
be accessed.
P_CY
Turned ON when there is a carry in the result of an arithmetic operation or a “1” is
shifted to the Carry Flag by a Data Shift instruction.
The Carry Flag is part of the result of some Data Shift and Math instructions.
Greater Than Flag
P_GT
Equals Flag
P_EQ
Less Than Flag
P_LT
Turned ON when the first operand of a Comparison Instruction is greater than the
second or a value exceeds a specified range.
Turned ON when the two operands of a Comparison Instruction are equal or the
result of a calculation is 0.
Turned ON when the first operand of a Comparison Instruction is less than the
second or a value is below a specified range.
Turned ON when the most significant bit (sign bit) of a result is ON.
Negative Flag
P_N
Overflow Flag
P_OF
Underflow Flag
P_UF
Greater Than or
Equals Flag
Not Equal Flag
P_GE
Less Than or
Equals Flag
P_LE
Turned ON when the first operand of a Comparison Instruction is less than or
equal to the second.
Always ON Flag
Always OFF Flag
P_On
P_Off
Always ON. (Always 1.)
Always OFF. (Always 0.)
P_NE
Turned ON when the result of calculation overflows the capacity of the result
word(s).
Turned ON when the result of calculation underflows the capacity of the result
word(s).
Turned ON when the first operand of a Comparison Instruction is greater than or
equal to the second.
Turned ON when the two operands of a Comparison Instruction are not equal.
Using the Condition Flags
The Condition Flags are shared by all of the instructions, so their status may change often in a single cycle. Be
sure to read the Condition Flags immediately after the execution of instruction, preferably in a branch from the
same input condition.
Instruction A
Instruction
Operand
LD
Condition Flag
Example: =
The result from instruction A is
reflected in the Equals Flag.
Instruction B
Note
Instruction A
AND
=
Instruction B
(1) Since the Condition Flags are shared by all of the instructions, program operation can be changed
from its expected course by interruption of a single task. Be sure to consider the effects of Condition
Flags when writing the program. Refer to Condition Flags on page 281 for details.
(2) The Condition Flags are cleared when the program switches tasks, so the status of a Condition Flag
cannot be passed to another task.
308
Appendix B
I/O Memory
Clock Pulses
The Clock Pulses are flags that are turned ON and OFF at regular intervals by the system.
Name
Label
0.02 s Clock Pulse 0.02s
CX-Programmer
Symbol
Operation
P_0_02s
ON for 0.01 s
OFF for 0.01 s
0.01 s
0.01 s
0.1 s Clock Pulse
0.1s
P_0_1s
ON for 0.05 s
OFF for 0.05 s
0.05 s
0.05 s
0.2 s Clock Pulse
0.2s
P_0_2s
ON for 0.1 s
OFF for 0.1 s
0.1 s
0.1 s
1 s Clock Pulse
1s
P_1s
ON for 0.5 s
OFF for 0.5 s
0.5 s
0.5 s
1 min Clock Pulse
1min
P_1min
ON for 30 s
OFF for 30 s
30 s
30 s
The Clock Pulses are specified with labels (or symbols) rather than addresses.
Note The CX-Programmer treats Clock Pulses as global symbols beginning with P_.
The Clock Pulses are read-only; they cannot be overwritten from instructions or the CX-Programmer.
The Clock Pulses are cleared at the start of operation.
Using the Clock Pulses
The following example turns CIO 0001.00 ON and OFF at 0.5 s intervals.
1s
0001.00
Instruction
ψ
φ 0.5 s
LD
OUT
Operand
1s
0001.00
0001.00
ψ
φ0.5 s
309
I/O Memory
Appendix B
Parameter Area
Unlike the data areas in I/O Memory, which can be used in instruction operands, the Parameter Area can be
accessed only from the CX-Programmer. The Parameter Area is made up of the following parts.
• The System Setup
• The Routing Tables
System Setup
The user can customize the basic specifications of the Coordinator Module and Motion Control Modules with
the settings in the System Setups. The System Setups contain settings such as the serial port communications
settings and constant cycle time setting.
310
Appendix C
System Setup, Auxiliary Area Allocations,
and Built-in I/O Allocations
Overview of System Setups
A System Setup contains software settings that the user can change to customize FQM1 operation. Module
functions are set using its System Setup.
The Coordinator Module and Motion Control Modules all have System Setups, which are set from the CX-Programmer to customize operation for the following types of applications.
Cases when settings must be changed
Setting(s) to be changed
Sync Mode
• When programming the FQM1 for the first time and the Motion Control
Modules are being programmed before the Coordinator Module.
• When editing or debugging the program in a specific Motion Control Module.
• When you want the FQM1 to go into RUN mode or MONITOR mode and Startup Mode
start operating immediately after startup.
• When you want the operating mode to be other than RUN mode when the
power is turned ON.
When the peripheral port will not be used with the CX-Programmer (periph- Peripheral Port Settings
eral bus) communications speed auto-detection and will not be used with the
default Host Link communications settings, such as 9,600 bps.
When the RS-232C port will not be used with the CX-Programmer (periph- Host Link Port Settings
eral bus) communications speed auto-detection and will not be used with the
default Host Link communications settings, such as 9,600 bps.
When you want to communicate with a PT via an NT Link.
Peripheral Port Settings or Host Link Port Settings
You want a constant (minimum) cycle time setting to create a consistent I/O Cycle Time
refresh cycle or cycle time.
You want to set a maximum cycle time other than 50 ms (1 ms to 100 ms).
Watch Cycle Time
You want to extend peripheral servicing time because peripheral services
are being executed over several cycles, delaying completion of servicing
(want to set a specific time rather than a percent of the cycle time).
Set Time to All Events
The addresses given for the settings in the System Setup are not required for actually making the settings. Use
the menus of the CX-Programmer Ver. 5.0@.
System Setup in the Coordinator Module
Sync Settings between Modules (CX-Programmer: Module Settings Tab Page)
Allow Writing to User Memory
Address
Word
+304
Settings
Function
Related flags and
words
Bits
00
0: Writing enabled
1: Writing disabled
Default: Writing enabled
Sets and releases write-protection for
the user memory and System Setup.
---
When setting is
read
When disabling: At
power ON or at
start of operation
When enabling:
When changed
Prohibit System Interrupt of the Sync Mode
Address
Word
+304
Settings
Function
Bits
08
0: Not prohibited
1: Prohibited
Default: Not prohibited
Sets and releases prohibition of system --interrupts during program execution.
Set to 1: Prohibit coordinating (matching) the operation start timings among
Modules in Sync Mode.
Related flags and
words
When setting is
read
At start of operation
311
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Sync Cycle Time
Address
Word
+319
Settings
Function
Bits
00 to 14 0000 hex: Default (Coordinator Module cycle time)
0001 to 0064 hex: 0.1 to 10.0
ms (unit: 0.1 ms)
Default: Coordinator Module
cycle time
Related flags and
words
Sets the cycle time for the Coordinator A404.06 (Sync Cycle
Module when high-speed synced oper- Time Too Long Flag)
ation is to be used only between Motion
Control Modules.
When setting is
read
At power ON
Sync Mode
Address
Word
+319
Settings
Function
Bits
15
0: Sync mode
1: Async mode
Default: Sync mode
Related flags and
words
Sets either Sync Mode or Async Mode. --Sync Mode is used to sync operation
between the Coordinator Module and
Motion Control Modules.
Async Mode is convenient for debugging Motion Control Modules even if
Sync Mode is to be used for actual
operation.
When setting is
read
At power ON
Startup Mode Setting (CX-Programmer: Startup Tab Page)
Startup Mode
Address
Word
+81
Settings
Function
Bits
00 to 11 00 hex: PROGRAM mode
01 hex: MONITOR mode
02 hex: RUN mode
15
00: Setting disabled
01: Setting enabled
Default: Setting disabled
Related flags and
words
Sets the mode in which the Coordinator --Module will start. The mode set here
can also be enabled and disabled. If
this setting is disabled, the Coordinator
Module will start in RUN mode.
When setting is
read
At power ON
Cycle Time Settings (CX-Programmer: Timer/Peripheral Service)
Cycle Time
Address
Word
+307
Settings
Function
Bits
00 to 15 0001 to 03E8 hex: 0.1 to
100.0 ms (unit: 0.1 ms)
Default: 0000 hex (variable
cycle time)
Related flags and
words
A404.05 (Constant
Set to 0001 to 03E8 hex to specify a
Cycle Time Exceeded
constant (minimum) cycle time. If the
cycle time is less than this setting, it will Flag)
be extended until this time passes.
Leave this setting at 0000 for a variable
cycle time.
When setting is
read
At start of operation (cannot be
changed during
operation)
Watch Cycle Time
Address
Word
+308
312
Settings
Bits
00 to 15 0001 to 0064 hex: 1 to 100
ms (unit: 0.1 ms)
Default: 0000 hex (50 ms)
Function
Related flags and
words
Change this setting only when you want A208 to A209 (Present
Cycle Time)
to change the default maximum cycle
time. The Cycle Time Too Long Flag
(A401.08) will be turned ON if the
actual cycle time exceeds this setting.
When setting is
read
At start of operation (cannot be
changed during
operation)
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Peripheral Port Settings (CX-Programmer: Peripheral Port Tab Page)
Communications Settings
Address
Word
+144
Settings
Function
Bits
00 to 07 Setting
Data
length
Start bits Stop bits
Parity
00 hex:
7
1
2
Even
01 hex:
7
1
2
Odd
02 hex:
7
1
2
None
04 hex:
7
1
1
Even
05 hex:
7
1
1
Odd
06 hex:
7
1
1
None
08 hex:
8
1
2
Even
09 hex:
8
1
2
Odd
0A hex:
8
1
2
None
0C hex:
8
1
1
Even
0D hex:
8
1
1
Odd
0E hex:
8
1
1
None
Related flags and
words
Sets the communi- A412.15 (Periphcations conditions eral Port Settings
for the peripheral Changing Flag)
port.
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Default: 00
Peripheral Port Settings for Host Link
Standard/Custom Setting
Address
Word
+144
Settings
Function
Bits
15
0: Standard
1: Custom
Default: 0
Related flags and
words
The standard settings are for 1 start bit, A412.15 (Peripheral
7-bit data, even parity, 2 stop bits, and Port Settings Changing
9,600 baud.
Flag)
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Serial Communications Mode
Address
Word
+144
Settings
Function
Bits
08 to 11 00 hex: Host Link
Default: 00 hex
Related flags and
words
This setting determines whether the
A412.15 (Peripheral
peripheral port will operate in Host Link Port Settings Changing
mode or another serial communications Flag)
mode. Set 00 for Host Link Mode.
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Baud Rate
Address
Word
+145
Settings
Bits
00 to 07 00 hex: 9,600
01 hex: 300
02 hex: 600
03 hex: 1,200
04 hex: 2,400
05 hex: 4,800
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
Function
Related flags and
words
This setting is valid when the peripheral A412.15 (Peripheral
port is set for the Host Link Serial Com- Port Settings Changing
Flag)
munications Mode. Set the Standard/
Custom setting to 1 to enable this setting.
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
313
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Host Link Unit Number
Address
Word
+147
Settings
Function
Bits
00 to 07 00 to 1F hex: Unit number 0
to 31
Default: 00 hex
Related flags and
words
This setting determines the Coordinator A412.15 (Peripheral
Port Settings Changing
Module's unit number when it is conFlag)
nected in a 1-to-N (N=2 to 32) Host
Link.
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Peripheral Port Settings for NT Link
Serial Communications Mode
Address
Word
+144
Settings
Function
Bits
08 to 11 02 hex: NT Link
Default: 0 hex
Related flags and
words
A412.15 (Peripheral
This setting determines whether the
peripheral port will operate in NT Link Port Settings Changing
mode or another serial communications Flag)
mode. Set 02 for NT Link Mode.
Note Communications will not be possible with PTs set for 1:1 NT Links.
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Baud Rate
Address
Word
+145
Settings
Function
Bits
00 to 07 08 hex: Standard NT Link
Default: 00 hex
Related flags and
words
Only the standard setting of 38,400 can A412.15 (Peripheral
be used for the NT Link Serial Commu- Port Settings Changing
nications Mode.
Flag)
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Maximum Unit Number for NT Link (NT Link Max.)
Address
Word
+150
Settings
Function
Bits
00 to 03 0 to 7 hex
Default: 0 hex
Related flags and
words
This setting determines the highest unit A412.15 (Peripheral
number of PT that can be connected to Port Settings Changing
the FQM1.
Flag)
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Peripheral Port Settings for Peripheral Bus (ToolBus)
Standard/Customer Setting
Address
Word
+144
Settings
Function
Bits
15
0: Standard
1: Custom
Default: 0
Related flags and
words
The standard setting is for 9,600 baud. A412.15 (Peripheral
Port Settings Changing
Flag)
When setting is
read
At next cycle (Also
can be changed
with STUP (237).)
Serial Communications Mode
Address
Word
+144
314
Settings
Function
Bits
08 to 11 04 hex: Peripheral bus
Default: 0 hex
This setting determines whether the
peripheral port will operate in Peripheral Bus Mode or another serial communications mode. Set 04 for
Peripheral Bus Mode.
Peripheral Bus Mode is used to communicate with the CX-Programmer.
Related flags and
words
When setting is
read
A412.15 (Peripheral
Port Settings Changing
Flag)
At next cycle (Also
can be changed
with STUP (237).)
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Baud Rate
Address
Word
+145
Settings
Function
Bits
00 to 07 00 hex: 9,600
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
Only settings 00 hex and 06 to 09 hex
can be used in peripheral bus mode.
Related flags and
words
When setting is
read
A412.15 (Peripheral
Port Settings Changing
Flag)
At next cycle (Also
can be changed
with STUP (237).)
RS-232C Port Settings (CX-Programmer: Host Port Tab Page)
RS-232C Port Settings for Host Link
Serial Communications Mode
Address
Word
+160
Settings
Function
Bits
08 to 11 00 hex: Host Link
05 hex: Host Link
Default: 00 hex
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
This setting determines whether the
RS-232C port will operate in Host Link Settings Changing Flag) can be changed
with STUP (237).)
mode or another serial communications
mode. Specify either 00 or 05 for Host
Link Mode.
Format
Address
Word
+160
Settings
Function
Bits
Related flags and
words
When setting is
read
15
0: Default format
1: Custom
Default: 00 hex
The standard settings are for 1 start bit, A410.15 (RS-232C Port At next cycle (Also
7-bit data, even parity, 2 stop bits, and Settings Changing Flag) can be changed
9,600 baud.
with STUP (237).)
03
0: 7-bit
1: 8-bit
Default: 0
Sets the data length.
02
0: 2 bits
1: 1 bit
Default: 0
Sets the number of stop bits.
00 and
01
00: Even
01: Odd
10: None
Default: 00 hex
Sets the parity.
Baud Rate
Address
Word
+161
Settings
Bits
00 to 07 00 hex: 9,600
01 hex: 300
02 hex: 600
03 hex: 1,200
04 hex: 2,400
05 hex: 4,800
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
Function
Related flags and
words
When setting is
read
Sets the Host Link baud rate. Set the
A410.15 (RS-232C Port At next cycle (Also
Standard/Custom setting to 1 to enable Settings Changing Flag) can be changed
this setting.
with STUP (237).)
315
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Host Link Unit Number
Address
Word
+163
Settings
Function
Bits
00 to 07 00 to 1F hex: 0 to 31
Default: 00 hex
Related flags and
words
When setting is
read
This setting determines the Coordinator A410.15 (RS-232C Port At next cycle (Also
Settings Changing Flag) can be changed
Module's unit number when it is conwith STUP (237).)
nected in a 1-to-N (N=2 to 32) Host
Link.
RS-232C Port Settings for NT Link
Serial Communications Mode
Address
Word
+160
Settings
Function
Bits
08 to 11 02 hex: NT Link
Default: 00 hex
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
This setting determines whether the
Settings Changing Flag) can be changed
RS-232C port will operate in NT Link
with STUP (237).)
mode or another serial communications
mode. Set 02 for NT Link Mode.
Note Communications will not be possible with PTs set for 1:1 NT Links.
Baud Rate
Address
Word
+161
Settings
Function
Bits
00 to 07 08 hex: Standard setting
Default: 00 hex
Related flags and
words
When setting is
read
Only the standard setting of 38,400 can A410.15 (RS-232C Port At next cycle (Also
be used for the NT Link Serial Commu- Settings Changing Flag) can be changed
nications Mode.
with STUP (237).)
Maximum Unit Number for NT Link (NT Link Max.)
Address
Word
+166
Settings
Function
Bits
00 to 03 0 to 7 hex
Default: 00 hex
Related flags and
words
When setting is
read
This setting determines the highest unit A410.15 (RS-232C Port At next cycle (Also
number of PT that can be connected to Settings Changing Flag) can be changed
the FQM1.
with STUP (237).)
RS-232C Port Settings for Peripheral Bus (ToolBus)
Standard/Custom Setting
Address
Word
+160
Settings
Function
Bits
15
0: Standard
1: Custom
Default: 0
Related flags and
words
When setting is
read
The standard setting is for 9,600 baud. A410.15 (RS-232C Port At next cycle (Also
Settings Changing Flag) can be changed
with STUP (237).)
Serial Communications Mode
Address
Word
+160
316
Settings
Bits
08 to 11 04 hex: Peripheral bus
Default: 0 hex
Function
Related flags and
words
When setting is
read
This setting determines whether the
A410.15 (RS-232C Port At next cycle (Also
RS-232C port will operate in Peripheral Settings Changing Flag) can be changed
Bus Mode or another serial communiwith STUP (237).)
cations mode. Set 04 for Peripheral Bus
Mode.
Peripheral Bus Mode is used to communicate with the CX-Programmer.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Baud Rate
Address
Word
+161
Settings
Function
Bits
00 to 07 00 hex: 9,600
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
Only settings 00 hex and 06 to 09 hex
can be used in peripheral bus mode.
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
Settings Changing Flag) can be changed
with STUP (237).)
RS-232 Port Settings for No-protocol Communications (RS-232C)
Serial Communications Mode
Address
Word
+160
Settings
Function
Bits
08 to 11 03 hex: No-protocol
Default: 00 hex
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
This setting determines whether the
RS-232C port will operate in No-proto- Settings Changing Flag) can be changed
with STUP (237).)
col mode or another serial communications mode. Set 03 for No-protocol
Mode.
Data Format
Address
Word
+160
Settings
Function
Bits
Related flags and
words
When setting is
read
15
0: Default format
1: Custom
Default: 00 hex
The standard settings are for 1 start bit, A410.15 (RS-232C Port At next cycle (Also
7-bit data, even parity, 2 stop bits, and Settings Changing Flag) can be changed
9,600 baud.
with STUP (237).)
03
0: 7-bit
1: 8-bit
Default: 0
Sets the data length.
02
0: 2 bits
1: 1 bit
Default: 0
Sets the number of stop bits.
00 and
01
00: Even
01: Odd
10: None
Default: 00 hex
Sets the parity.
Baud Rate
Address
Word
+161
Settings
Function
Bits
00 to 07 00 hex: 9,600
01 hex: 300
02 hex: 600
03 hex: 1,200
04 hex: 2,400
05 hex: 4,800
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
Related flags and
words
When setting is
read
This setting is valid when the RS-232C A410.15 (RS-232C Port At next cycle (Also
Settings Changing Flag) can be changed
port is set for the No-protocol Serial
with STUP (237).)
Communications Mode. Set the Data
Format setting to 1 to enable this setting.
Send Delay
Address
Word
+162
Settings
Bits
00 to 15 Send delay time,
0 to 99,990 ms
(0000 to 270F hex,
unit: 10 ms)
Default: 0000 hex
Function
Related flags and
words
When setting is
read
When TXD(236) is executed, data will A410.15 (RS-232C Port At next cycle (Also
be sent from the RS-232C port after the Settings Changing Flag) can be changed
delay time set here.
with STUP (237).)
317
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Start Code and End Code
Address
Word
+164
Settings
Function
Bits
00 to 07 00 to FF hex
Default: 00 hex
The frame format for
no-protocol communications data (messages) can be
specified.
08 to 15 00 to FF hex
Default: 00 hex
+165
12
0: Don’t add start code
1: Add start code
Default: 0
08 and
09
00: Don’t add end code
and use number of
received bytes setting
01: Add end code
11: Add CR+LF
Default: 00
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
Specifies the end
code. This setting is Settings Changing Flag) can be changed
with STUP (237).)
valid when bits 08 to
09 of +165 are set to
01.
Specifies the start
code. This setting is
valid when bit 12 of
+165 is set to 1.
Specifies whether to
Specifies whether
the frame format for add a start code.
no-protocol communications is specified.
Specifies whether to
add an end code.
Number of Received Bytes
Address
Word
+165
Settings
Function
Bits
00 to 07 00 hex: 256 bytes
01 to FF hex: 1 to 255
Default: 00 hex
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
Specifies the data length to send and
Settings Changing Flag) can be changed
receive for no-protocol communicawith STUP (237).)
tions. The start code and end code are
not included in the data length.
This setting is valid only when bits 08
and 09 of +165 are set to 00.
The default setting for each TXD(236)/
RXD(235) instruction is 256 bytes. This
setting can be set to 01 to FF to set 255
bytes or less.
RS-232C Port Settings for PLC Link (PC Link (Slave))
Serial Communications Mode
Address
Word
+160
Settings
Function
Bits
08 to 11 07 hex: Serial PLC Link
Slave (Polled Unit)
Default: 00 hex
Related flags and
words
When setting is
read
A410.15 (RS-232C Port At next cycle (Also
This setting determines whether the
RS-232C port will operate in Serial PLC Settings Changing Flag) can be changed
with STUP (237).)
Link Slave mode or another serial communications mode. Set 07 for Serial
PLC Link Slave Mode.
Baud Rate
Address
Word
+161
Settings
Function
Bits
00 to 07 00 hex: Standard setting
Default: 00 hex
Related flags and
words
When setting is
read
Only the standard setting of 38,400 can A410.15 (RS-232C Port At next cycle (Also
be used for the Serial PLC Link Slave Settings Changing Flag) can be changed
Serial Communications Mode.
with STUP (237).)
PLC Link Unit No. (PC Link Unit Number)
Address
Word
+167
318
Settings
Bits
00 to 03 0 to 7 hex
Default: 0 hex
Function
Related flags and
words
When setting is
read
Sets the unit number of the FQM1 as a A410.15 (RS-232C Port At next cycle (Also
Serial PLC Link Slave.
Settings Changing Flag) can be changed
with STUP (237).)
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
RS-422A Port Settings (CX-Programmer: Drive Tab Page)
RS-422A Port Settings for Serial Gateway
Standard/Custom Setting
Address
Word
+360
Settings
Function
Bits
15
0: Standard settings
Default: 0
Related flags and
words
When setting is
read
The standard settings are for 1 start bit, A414.15 (RS-422A Port --7-bit data, even parity, 2 stop bits, and Settings Changing Flag)
9,600 baud.
Serial Communications Mode
Address
Word
+360
Settings
Function
Bits
08 to 11 00 or 09 hex: Serial Gateway This setting determines whether the
RS-422A port will operate in Serial
Default: 00 hex
Gateway mode or another serial communications mode. Set 00 or 09 for
Serial Gateway Mode.
Related flags and
words
When setting is
read
A414.15 (RS-422A Port At next cycle (Also
Settings Changing Flag) can be changed
with STUP (237).)
RS-422A Response Timeout Time (RS422 Response Timeout of Command)
Address
Word
+367
Settings
Function
Bits
00 to 15 0001 to 00FF hex:
0.1 to 25.5 s
Default: 0000 hex (5 s)
Sets the timeout time for a response
from the Servo Driver.
Related flags and
words
When setting is
read
A414.15 (RS-422A Port At next cycle (Also
Settings Changing Flag) can be changed
with STUP (237).)
RS-422A Port Settings for No-protocol Communications (Non-procedural)
Serial Communications Mode
Address
Word
+360
Settings
Function
Bits
08 to 11 03 hex: No-protocol
Default: 00 hex
Related flags and
words
When setting is
read
A414.15 (RS-422A Port At next cycle (Also
This setting determines whether the
RS-422A port will operate in no-proto- Settings Changing Flag) can be changed
with STUP (237).)
col mode or another serial communications mode. Set 03 for No-protocol
Mode.
Send Delay Time
Address
Word
+362
Bits
Settings
Function
Related flags and
words
When setting is
read
00 to 15 Send delay time, 0 to 99,990 When TXD(236) is executed, data will A414.15 (RS-422A Port At next cycle (Also
ms
be sent from the RS-422A port after the Settings Changing Flag) can be changed
(0000 to 270F hex,
delay time set here.
with STUP (237).)
unit: 10 ms)
Default: 0000 hex
319
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Start Code and End Code
Address
Word
+364
Settings
00 to 07 00 to FF hex
Default: 00 hex
08 to 15 00 to FF hex
Default: 00 hex
+365
Function
Related flags and
words
Bits
12
08 and
09
The frame format
for no-protocol
communications
data (messages)
can be specified.
Specifies the end
code. This setting
is valid when bits
08 to 09 of +365
are set to 01.
When setting is
read
A414.15 (RS-422A Port At next cycle (Also
Settings Changing Flag) can be changed
with STUP (237).)
Specifies the start
code. This setting
is valid when bit 12
of +365 is set to 1.
Specifies whether Specifies whether
to add a start code.
the frame format
for no-protocol
communications is
00: Don’t add end code and specified.
Specifies whether
use number of received bytes
to add an end
setting
code.
01: Add end code
11: Add CR+LF
Default: 00
0: Don’t add start code
1: Add start code
Default: 0
Number of Received Bytes
Address
Word
+365
Settings
Function
Bits
00 to 07 00 hex: 256 bytes
01 to FF hex: 1 to 255
Default: 00 hex
Related flags and
words
When setting is
read
A414.15 (RS-422A Port At next cycle (Also
Specifies the data length to send and
Settings Changing Flag) can be changed
receive for no-protocol communicawith STUP (237).)
tions. The start code and end code are
not included in the data length.
This setting is valid only when bits 08
and 09 of +365 are set to 00.
The default setting for each TXD(236)/
RXD(235) instruction is 256 bytes. This
setting can be set to 01 to FF to set 255
bytes or less.
Peripheral Service Time Settings (CX-Programmer: Timer/Peripheral Tab Page)
Fixed Service Time Enable Setting (Set Time to All Events)
Address
Word
+218
Settings
Function
Bits
15
0: Default (6.25% of cycle
time)
1: Custom
Default: 0
Related flags and
words
Sets the default service time or enables --setting of a custom service time.
When setting is
read
At start of operation (cannot be
changed during
operation)
Peripheral Service Time
Address
Word
+218
320
Settings
Function
Bits
00 to 07 00 to FF hex:
0.0 to 25.5 ms
(unit: 0.1 ms)
Default: 00 hex
Sets the time to allocate to peripheral
--servicing. Bit 15 of +218 must be set to
1 to enable this setting.
Related flags and
words
When setting is
read
At start of operation (cannot be
changed during
operation)
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
System Setup in Motion Control Modules
Settings Used by All Motion Control Modules
CX-Programmer: Module Settings Tab Page
Address
+304
+305
Bits
Function
08
Prohibit system interruption of the sync 0 hex: Allow interrupts
mode
1 hex: Prohibit interrupts
Set this bit to 1 to prohibit system interrupts
during program execution and I/O memory
refreshing to maintain synced operation
between Modules in Sync Mode.
12
Detect cycle time over warming (detec- 0 hex: Detect long cycles
At start of operation
tion of cycle times longer than 10 ms) 1 hex: Do not detect long cycles
Note CIO 0105.09 will turn ON if this bit is set
to 0 and the cycle time exceeds 10 ms.
00 to 03 Interrupt Input Settings, Input 0 (CIO
0000.00) function
08 to 11 Interrupt Input Settings, Input 2 (CIO
0000.02) function
12 to 15 Interrupt Input Settings, Input 3 (CIO
0000.03) function
00 to 07 Select Synchronous Data
08 to 15
0 hex: Writing enabled
1 hex: Writing disabled
Note Set this bit to 1 to disable writing the following areas from the CX-Programmer: user
program and System Setup
When setting is read
Allow writing to user memory (user
memory protection)
04 to 07 Interrupt Input Settings, Input 1 (CIO
0000.01) function
+306
Remarks
00
0 hex: Normal
1 hex: Interrupt input (at rising edge)
2 hex: Interrupt input (at falling edge)
3 hex: Interrupt input (at both edges)
Note Interrupt input settings of 1 to 3 hex
apply to input interrupt mode and counter
mode.
When disabling: At
power ON or at start of
operation
When enabling: When
changed
At power ON
At power ON
Upper 2 words (+0 00 hex: Normal (via Ladder)
and +1)
01 hex: High-speed counter PV (Counter 1 valLower 2 words (+2 ues)
02 hex: High-speed counter PV (Counter 2 valand +3)
ues)
03 hex: Pulse output 1 PV
04 hex: Pulse output 2 PV
05 hex: Analog input
06 hex: Reserved
07 hex: Analog output 1 value
08 hex: Analog output 2 value
09 hex: Built-in input value (Inner I/O input)
5A hex: No data
CX-Programmer: Cycle Time Tab Page
Address
Bits
Function
Remarks
When setting is read
+307
00 to 15 Cycle time
0000 hex: Variable cycle time
At start of operation
0001 to 03E8 hex: Constant (minimum) cycle
time of 0.1 to 100.0 ms (unit: 0.1 ms)
If the actual cycle time is less than this setting,
it will be extended until this time passes.
Note A404.05 will turn ON if the minimum
cycle time set here is exceeded.
+308
00 to 15 Watch cycle time
At start of operation
Change this setting only when you want to
change the default maximum cycle time. The
Cycle Time Too Long Flag (A401.08) will be
turned ON if the actual cycle time exceeds this
setting.
CX-Programmer: Other Tab Page
These settings are reserved for future expansion of Motion Control Module functionality.
321
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
FQM1-MMP21 Motion Control Modules with Pulse I/O
CX-Programmer: Pulse Input Tab Page
Address
+320
Bits
Function
Remarks
00 to 03 High-speed
Input method
counter 1 (Counter
1)
0 hex: Phase differential x1
1 hex: Phase differential x2
2 hex: Phase differential x4
3 hex: Increment/decrement pulse inputs
4 hex: Pulse + direction inputs
04 to 07
Reset method
0 hex: Software reset
1 hex: Phase Z and software reset
08 to 11
Counting speed
0 hex: 50 kHz
1 hex: 500 kHz
12 to 15
Counter operating
0 hex: Linear counter
mode (Counter opera- 1 hex: Circular counter
tion)
2 hex: Absolute linear counter (CW−)
3 hex: Absolute circular counter
4 hex: Absolute linear counter (CW+)
Note When setting any mode except for a linear
counter (0 hex), be sure to set the Circular Maximum Count/Absolute Encoder Resolution.
+321
00 to 03
Counter data to moni- 0 hex: Do not monitor (Non-monitor)
tor (Counter data dis- 1 hex: Counter PV changes (Counter movements
play)
(mode 1))
2 hex: Frequency (mode 2)
Note The frequency (mode 2) can be set only for
high-speed counter 1.
04 to 15
Reserved
+322
00 to 15
Sampling time (for
mode 1 only)
322
Sets the sampling time for monitoring counter PV
changes (mode 1)
0000: Cycle time
0001 to 270F hex: 1 to 9,999 ms
(unit: 1 ms)
Note This setting is valid only when the Counter
Data Display (bits 00 to 03 of +321) is set to 1 hex
(mode 1).
When setting is
read
At power ON
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
+323
+324
+325
Bits
Function
Remarks
Appendix C
When setting is
read
Same as for high-speed counter 1 except that fre- At power ON
quency measurement (Counter data to monitor,
bit 00 to 03 of +324: 02 hex) cannot be set for
high-speed counter 2.
00 to 03 High-speed
Input method
counter 2 (Counter
04 to 07 2)
Reset method
08 to 11
Counting speed
12 to 15
Counter operating
mode (Counter operation)
00 to 03
Counter data to monitor (Counter data display)
04 to 15
Reserved
00 to 15
Sampling time (for
mode 1 only)
+326 to 327 00 to 15 High-speed
Circular maximum
counter 1 (Counter count
1)
Absolute encoder resolution
Sets the maximum circular counter value.
Range: 0000 0001 to FFFF FFFF hex
0000 0001 to 0000 FFFF hex
Note Set this value in pulses/rotation according
to the encoder dividing ratio set for the Servo
Driver and the input method multiplier set for the
Module.
Example: If the Servo Driver setting is 1,000 and
the Module setting is x4, set FA0 (4,000).
+328 to 329 00 to 15 High-speed
Circular maximum
Same as for high-speed counter 1.
counter 2 (Counter count
2)
Absolute encoder resolution
+330 to 331 00 to 15 High-speed
Absolute offset
counter 1 (Counter
1)
8000 0000 to 7FFF FFFF hex
+332 to 333 00 to 15 High-speed
Absolute offset
counter 2 (Counter
2)
8000 0000 to 7FFF FFFF hex
CX-Programmer: Pulse Output Tab Page
Address
+340
+341
Bits
Function
Remarks
00 to 07 Pulse output 1
Operation mode
(Refer to 7-6-6
Pulse Output
Function Details.)
00 hex: Relative pulse output
01 hex: Absolute pulse output in linear mode
02 hex: Absolute pulse output in circular mode (See
note.)
03 hex: Electronic cam control in linear mode (See
note.)
04 hex: One-shot pulse output
05 hex: Time measurement using pulse counter
06 hex: Electronic cam control in circular mode (See
note.)
08 to 15
Clock
00 hex: 20 MHz
Pulse output frequency: 400 Hz
to 1 MHz
01 hex: 10 MHz
Pulse output frequency: 200 Hz
to 200 kHz
02 hex: 5 MHz
Pulse output frequency: 100 Hz
to 100 kHz
03 hex: 2.5 MHz
Pulse output frequency: 40 Hz
to 50 kHz
04 hex: 1.25 MHz
Pulse output frequency: 20 Hz
to 20 kHz
00 to 07 Pulse output 2
Operation mode
08 to 15
Clock
At power ON
Same as for pulse output 1.
+342 to 343 00 to 15 Pulse output 1
Circular maximum Sets the maximum circular counter value when the
count
pulse output mode is set to absolute pulse output in
circular mode or electronic cam control in circular
mode.
Range: 0000 0001 to FFFF FFFF hex (See note.)
+344 to
+345
Circular maximum Same as for pulse output 1.
count
00 to 15 Pulse output 2
When setting is
read
323
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Note Always set the Circular Maximum Count when setting any of the circular operation modes.
FQM1-MMA21 Motion Control Modules with Analog I/O
CX-Programmer: Pulse Input Tab Page
Address
+320
Bits
Function
Remarks
00 to 03 High-speed
Input method
counter 1 (Counter
1)
0 hex: Phase differential x1
1 hex: Phase differential x2
2 hex: Phase differential x4
3 hex: Increment/decrement pulse inputs
4 hex: Pulse + direction inputs
04 to 07
Reset method
0 hex: Software reset
1 hex: Phase Z and software reset
08 to 11
Counting speed
0 hex: 50 kHz
1 hex: 500 kHz
12 to 15
Counter operating
0 hex: Linear counter
mode (Counter opera- 1 hex: Circular counter
tion)
2 hex: Absolute linear counter (CW−)
3 hex: Absolute circular counter
4 hex: Absolute linear counter (CW+)
+321
00 to 03
Counter data to moni- 0 hex: Do not monitor (Non-monitor)
tor (Counter data dis- 1 hex: Counter PV changes (Counter movements
play)
(mode 1))
2 hex: Frequency (mode 2)
Note The frequency (mode 2) can be set only for
high-speed counter 1.
04 to 15
Reserved
+322
00 to 15
Sampling time (for
mode 1 only)
+323
00 to 03 High-speed
Input method
counter 2 (Counter
04 to 07 2)
Reset method
08 to 11
Counting speed
+324
+325
12 to 15
Counter operating
mode (Counter operation)
00 to 03
Counter data to monitor (Counter data display)
04 to 15
Reserved
00 to 15
Sampling time (for
mode 1 only)
+326 to 327 00 to 15 High-speed
Circular maximum
counter 1 (Counter count
1)
Absolute encoder resolution
Sets the sampling time for monitoring counter PV
changes (mode 1)
0000: Cycle time
0001 to 270F hex: 1 to 9,999 ms
(unit: 1 ms)
Note This setting is valid only when the Counter
Data Display (bits 00 to 03 of +321) is set to 1 hex
(mode 1).
Same as for high-speed counter 1 except that frequency measurement (Counter data to monitor, bit
00 to 03 of +324: 02 hex) cannot be set for highspeed counter 2.
Sets the maximum circular counter value.
Range: 0000 0001 to FFFF FFFF hex
0000 0001 to 0000 FFFF hex
Note Set this value in pulses/rotation according to
the encoder dividing ratio set for the Servo Driver
and the input method multiplier set for the Module.
Example: If the Servo Driver setting is 1,000 and
the Module setting is x4, set FA0 (4,000).
+328 to 329 00 to 15 High-speed
Circular maximum
Same as for high-speed counter 1.
counter 2 (Counter count
2)
Absolute encoder resolution
324
When setting
is read
At power ON
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
Bits
Function
Remarks
Appendix C
When setting
is read
+330 to 331 00 to 15 High-speed
Absolute offset
counter 1 (Counter
1)
8000 0000 to 7FFF FFFF hex
Immediately
Application origin when using an absolute encoder.
+332 to 333 00 to 15 High-speed
Absolute offset
counter 2 (Counter
2)
Same as high-speed counter 1.
CX-Programmer: Analog Input/Output Tab Page
Address
+350
Bits
Function
Remarks
When setting is read
00 to 03 Analog I/O
Input method
0 hex: END refresh
1 hex: Immediate refresh (using PRV(881)
instruction)
04 to 07
Output method
0 hex: END refresh (Analog value output to
A560 and A561 after executing END(001).)
1 hex: Immediate refresh (using instructions)
(Analog value output when SPED(885) or
ACC(888) is executed.) (A560 and A561 are
used for monitoring.)
+351
00 to 07 Analog input
Input range
00 hex: −10 to 10 V
01 hex: 0 to 10 V
02 hex: 1 to 5 V (4 to 20 mA)
03 hex: 0 to 5 V
At power ON
+353
00 to 07 Analog output 1
Output range
00 hex: −10 to 10 V
01 hex: 0 to 10 V
02 hex: 1 to 5 V
03 hex: 0 to 5 V
5A hex: Output disabled (Can be used to
shorten I/O refresh time.) (See note.)
At power ON
08 to 11
Output stop function
0 hex: Clear
1 hex: Hold
2 hex: Maximum value
00 to 07 Analog output 2
Output range
Same as for analog output 1.
08 to 15
Output stop function
+354
At power ON
Note Analog outputs that are not being used can be disabled to decrease the cycle time.
Details on System Setup Settings
Startup Mode
This setting determines the operating mode that will be used when the power supply to the Coordinator Module
is turned ON.
System Setup mode setting disabled
RUN mode
System Setup mode setting enabled
Program: PROGRAM mode
Monitor: MONITOR mode
Run:
RUN mode
Note The Coordinator Module will start in RUN mode unless the Startup Mode setting in the System Setup is
enabled.
Peripheral Port Settings
The standard settings are for Host Link Mode, 1 start bit, 7-bit data, even parity, 2 stop bits, and 9,600 baud.
Change the System Setup if any other settings are required.
RS-232C Port Settings (Host Link Port)
The standard settings are for Host Link Mode, 1 start bit, 7-bit data, even parity, 2 stop bits, and 9,600 baud.
Change the System Setup if any other settings are required. If no-protocol communications are to be used, be
sure to change the frame format.
325
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Note The RS-232C port settings can also be changed with the STUP (237) instruction. The RS-232C Port
Settings Changing Flag (A410.15) will remain ON from the time STUP (237) is executed until the settings have actually been changed.
RS-232C Port Settings
The standard (default) settings are as follows:
Host Link Mode
1 start bit
7-bit data
Even parity
2 stop bits
9,600 baud rate
If any other serial communications mode is
being used (e.g., NT Link, no-protocol,
peripheral bus, or Host Link), change the
baud rate or other settings as requried.
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
ON
12
CM001
FLEXIBLE
MOTION
CONTROLLER
OFF
1
2
CN1
PORT
RS422
39
40
Note The following data is set for no-protocol mode.
Send delay
Data sent
Time
TXD(236)
Messages Sent and Received with No-protocol Mode
End code
No
Start code
Yes
Data
No
Yes
Received bytes
ST
Data
Data
ST
Data
CR+LF
ED
ED
Data
ST
Data
CR+LF
CR+LF
Data: 1 to 256 bytes
Constant Cycle Time
Set the cycle time to a non-zero value, e.g., to create a consistent motor control cycle. This setting is effective
only when the actual cycle time is shorter than the constant cycle time setting. If the actual cycle time is longer
than the constant cycle time setting, the actual cycle time will remain unchanged.
Note The constant cycle time setting cannot be changed while the Module is in RUN or MONITOR mode.
Constant
(minimum)
time
Watch Cycle Time
If the cycle time exceeds the watch (maximum) cycle time setting, the Cycle Time Too Long Flag (A401.08) will
be turned ON and FQM1 operation will be stopped. This setting must be changed if the normal cycle time
exceeds the default watch cycle time setting of 50 ms.
326
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Note The watch cycle time setting cannot be changed while the Module is in RUN or MONITOR mode.
Watch Cycle
Time
Watch
Time
Actual Cycle
Time
Watch Cycle
Time
Actual Cycle
Time
Watch Cycle
Time
Actual Cycle
Time
↓
OVER
Cycle Time
Too Long Flag
A401.08
ON
↓
Module operation
is stopped.
Note The default value for the watch cycle time is 50 ms.
Fixed Peripheral Servicing Time
This setting determines whether the peripheral servicing for the following processes is performed with
the default settings (6.25% of the cycle time) or all together in a fixed servicing time.
Exchange data with Modules when necessary
Exchange data with peripheral port
Exchange data with serial communications ports
Power ON
Initialization
Common processes
Cycle
time
Program execution
(Tasks executed)
I/O refreshing
Cyclic refreshing
Peripheral servicing
The following table shows a breakdown of the peripheral servicing time.
Peripheral servicing time
Default value
Event service time for
Motion Control Modules
6.25% of the previous
cycle’s cycle time
Event service time for
peripheral port
Same as above.
Event service time for
RS-232C port
Same as above.
Event service time for
RS-422A port
Same as above.
Setting range
Uniform servicing time in ms:
0.0 to 25.5 ms (unit: 0.1 ms)
Note A default value of 100 µs is allocated in Motion Control Modules for event servicing with the Coordinator
Module
327
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
The default value for each servicing process is 6.25% of the last cycle’s cycle time. In general, it is recommended that the default value be used. Set a uniform servicing time only when peripheral servicing is
being delayed because each service process is being spread over several cycles.
Note
(1) When the peripheral servicing time is set to a time longer than the default value, the cycle time will
also be longer.
(2) The fixed peripheral servicing time setting cannot be changed while the Module is in RUN mode or
MONITOR mode.
328
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Auxiliary Area Allocations by Function
The following tables list the words and bits allocated in the Auxiliary Area by function. These tables provide only
an overview of the functionality. Refer to Appendix D Auxiliary Area Allocations for details or a list of allocations
by address.
Motion Control Modules
Allocations That Are the Same for All Modules
Address
A202
Bits
Name
Function
Controlled by
00
Motion Control Module
slot 1
ON if the Motion Control Module is in slot 1.
01
Motion Control Module
slot 2
ON if the Motion Control Module is in slot 2.
02
Motion Control Module
slot 3
ON if the Motion Control Module is in slot 3.
03
Motion Control Module
slot 4
ON if the Motion Control Module is in slot 4.
Module
FQM1-MMP21 Motion Control Modules with Pulse I/O
Address
Bits
A600
00 to 15
A601
00 to 15
A602
00 to 15
A603
00 to 15
A604 to
A605
00 to 15
A606 to
A607
00 to 15
Name
Function
High-speed Counter 1 PV
High-speed Counter 2 PV
Highspeed
Counter
1
Highspeed
Counter
2
PV of absoFor following
lute number
counter modes
• Absolute linear of rotations
(CW−)
• Absolute circular
• Absolute linear
(CW+)
Contains the number of rotations data (PV) read from
the Encoder when the SEN signal is input to the
Servo Driver.
8000 0000 to 7FFF FFFF hex
For following
counter modes
• Linear counter
• Circular
counter
Monitor data
• When monitoring counter movements (mode 1),
contains the absolute value of the amount of
change in the PV of the high-speed counter over
the specified sampling time as a 8-digit hexadecimal value (0000 0000 to FFFF FFFF hex).
• When monitoring the counter frequency (mode 2),
contains the frequency of the high-speed counter
calculated from the PV of the high-speed counter
between 0 and 7A120 hex (0 and 500 kHz).
For following
PV of absocounter modes
lute number
• Absolute linear of rotations
(CW−)
• Absolute circular
• Absolute linear
(CW+)
Same as for A604 and A605 for high-speed counter
1 except that measuring the high-speed counter frequency is not possible for high-speed counter 2.
For following
counter modes
• Linear counter
• Circular
counter
Controlled by
Range: 8000 0000 to 7FFF FFFF
Module
Note For a Linear Counter, high-speed counter overflows/underflows are checked when the PV is read
(i.e., when Module internal I/O is refreshed).
Monitor data
329
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A608
330
Bits
Name
Appendix C
Function
00
High-speed
Target Compar- OFF: Target value comparison is not being performed for
counter 1 status ison InCTBL(882).
progress Flag Note This flag is always OFF for range comparison.
ON: Target value comparison is being performed for CTBL(882).
Note Target comparison is continued without interruption once it
has been started (as opposed to range comparison), so this flag
can be used to check whether target comparison is in progress.
01
PV Overflow/
OFF: There is no counter overflow or underflow in Linear Counter
Underflow Flag Mode. This flag will always be OFF in Circular Counter Mode.
ON: There is a counter overflow or underflow in Linear Counter
Mode. The counter PV will be fixed at the overflow or underflow
limit. This flag will be cleared when the High-speed Counter Start
Bit is turned OFF.
02
Reserved
03
Phase Z Input ON for one cycle when the counter PV is reset with the counter
Reset Flag (ON reset method set to a phase Z + software reset.
for one cycle) Note This flag will turn ON for one cycle after the counter PV is
reset if the phase Z signal (reset input) turns ON while the Highspeed Counter Reset Bit (A610.01) is ON.
04
Absolute No. of OFF: No error
Rotations Read ON: Error
Error Flag
05
Absolute No. of OFF: Rotations being read or reading has not been executed.
Rotations Read ON: Reading has been completed (Turned ON when serial recepCompleted
tion of the number of rotations has been completed.)
Flag
06
Measuring Flag OFF: Changes in the counter PV or the counter frequency is not
(measurement being measured.
mode 1 or 2)
ON: Changes in the counter PV or the counter frequency is being
measured.
In measurement mode 1, this flag will turn ON at the beginning of
the sampling time after the Measurement Start Bit (A610.02) is
turned ON.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
07
High-speed
Counter Operating Flag
08
Count Latched OFF: Count has not been latched.
Flag
ON: Latching the count has been completed for the latch input.
09 to 11
Reserved
---
12
Absolute Offset Preset
Error Flag
OFF: No error occurred when saving the absolute offset.
ON: An error occurred when saving the absolute offset.
13 to 15
Reserved
---
---
OFF: Counter is not operating.
ON: Counter is operating.
Controlled
by
Module
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A609
Bits
00
01
Name
Function
High-speed
Target Compar- Same as for high-speed counter 1.
counter 2 status ison Inprogress Flag
Appendix C
Controlled
by
Module
PV Overflow/
Underflow Flag
02
Reserved
03
Phase Z Input
Reset Flag (ON
for one cycle)
04
Absolute No. of
Rotations Read
Error Flag
05
Absolute No. of
Rotations Read
Completed
Flag
06
Measuring Flag
(measurement
mode 1 or 2)
07
High-speed
Counter Operating Flag
08
Count Latched
Flag
09 to 11
Reserved
12
Absolute Offset Preset
Error Flag
13 to 15
Reserved
331
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A610
Bits
00
High-speed
counter 1 command bits
Function
Controlled
by
Start Bit
OFF: Stops counter operation. The counter PV will be maintained. User
ON: Starts counter operation. The counter PV will not be reset.
Reset Bit
OFF: If a software reset is set in the System Setup, the counter PV
will not be reset when internal I/O is refreshed in the Motion Control Module. If a phase Z + software reset is set, disables the phase
Z input.
ON: If a software reset is set in the System Setup, resets the
counter PV to 0 when internal I/O is refreshed in the Motion Control
Module. If a phase Z + software reset is set, enables the phase Z
input.
02
Measurement
Start Bit
OFF: Disables measuring changes in counter PV or the counter
frequency.
ON: Starts measuring changes in counter PV or the counter frequency.
Note Measuring the high-speed counter frequency is possible only
for high-speed counter 1.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
03
Measurement OFF: Forward (up)
Direction Bit
ON: Reverse (down)
(measurement This bit specifies the up/down direction of the pulse input for fremode 2)
quency measurement.
Note Always set this bit before turning ON the Measurement Start
Bit.
04
Range ComOFF: Does not clear the execution results (A612) or output bit patparison Results tern (A613) from CTBL(882) execution for range comparison for
Clear Bit
the counter.
ON: Clears the execution results (A612) or output bit pattern
(A613) from CTBL(882) execution for range comparison for the
counter.
05
Absolute Offset Preset Bit
OFF: Does not preset the offset.
OFF to ON: Stores the number of multi-turns read from the Servo
Driver and the number of initial incremental pulses as an offset in
the Absolute Offset value in the System Setup.
When establishing the machine origin, the position from the absolute encoder origin is set as the Absolute Offset in the System
Setup as the machine origin.
06
Absolute
Present Value
Preset Bit
OFF: Disables the absolute present value preset.
OFF to ON: Stores the Absolute PV in the counter 1 PV (A600 and
A601).
Note Refer to 7-7-6 Absolute Present Value for details on the
absolute PV.
07
Absolute Num- OFF: Disables reading the number of rotations data from the Servo
ber of RotaDriver.
tions Read Bit OFF to ON: Outputs the SEN output to the Servo Driver and
receives the number of rotations data on the phase A input.
08
Latch Input 1
Enable Bit
OFF: Disables the exterior latch input 1 signal.
ON: Enables the exterior latch input 1 signal.
09
Latch Input 2
Enable Bit
OFF: Disables the exterior latch input 2 signal.
ON: Enables the exterior latch input 2 signal.
10 to 15
Reserved
---
01
332
Name
Appendix C
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A611
Bits
00
01
02
Name
High-speed
Start Bit
counter 2 comReset
Bit
mand bits
Measurement
Start Bit
03
Reserved
04
Range Comparison Results
Clear Bit
05
Absolute Offset Preset Bit
06
Absolute
Present Value
Preset Bit
07
Absolute Number of Rotations Read Bit
08
Latch Input 1
Enable Bit
09
Latch Input 2
Enable Bit
10 to 15
Reserved
Appendix C
Function
Same as command bits for high-speed counter 1.
A612
Contains the CTBL(882) execution results for range comparison.
00 to 15 High-speed
Range Comcounter 1 moni- parison Execu- Bits 00 to 15 correspond to ranges 1 to 16.
tor data
tion Results
OFF: No match
Flags
ON: Match
A613
00 to 15
A614
00 to 15 High-speed
Range ComSame as for high-speed counter 1 monitor data.
counter 2 moni- parison Results
tor data
00 to 15
Output Bit Pattern
A615
Controlled
by
User
Module
Output Bit Pat- Contains the output bit pattern when a match is found for
tern
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit patterns with matches will be stored here.
333
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A620 to
A621
Bits
Name
00 to 15 Pulse Output 1 PV
Note This item applies when the
operation mode is relative pulse
output, absolute pulse output in
linear mode, absolute pulse output in circular mode, or electronic cam mode.
Appendix C
Function
Contains the pulse output PV as an 8-digit hexadecimal number.
Relative mode: 00000000 to FFFFFFFF hex
Absolute linear mode: 80000000 to 7FFFFFFF hex
Absolute circular mode: 00000000 to circular maximum count
One-shot Pulse Output 1 ON
Contains the time that the one-shot pulse output has been ON as
Time
an 8-digit hexadecimal number.
Note This item applies when the 0000 0000 to 0000 270F (unit: set by STIM(980))
operation mode is one-shot output mode.
Pulse Time Measurement 1
Contains the time measured by the pulse counter as an 8-digit
Note This item applies when the hexadecimal number.
operation mode is time measure- 0000 0000 to FFFF FFFF hex (unit: set by STIM(980))
ment mode using a pulse
counter.
A622 to
A623
00 to 15 Pulse Output 2 PV
A624
00
One-shot Pulse Output 2 ON
Time
334
Same as for One-shot Pulse Output 1 ON time.
Pulse Time Measurement 2
Same as for Pulse Time Measurement 1.
Pulse Output 1
Status
Pulse Output
Completed
Flag
OFF: Pulse output not completed (OFF during pulse output).
ON: Pulse output completed (ON when pulse distribution has been
completed).
01
Pulse Output
Set Flag
OFF: Pulse output amount not set by PULS(886).
ON: Pulse output amount set by PULS(886).
02
Target Frequency Not
Reached Flag
OFF: Target speed has been reached during pulse output for
PLS2(887).
ON: Decelerated before reaching the target speed during pulse
output for PLS2(887).
03
Target Compar- OFF: Comparison stopped.
ison Flag
ON: Comparison in progress.
04
Independent
Pulse Output
Flag
05
PLS2 Position- OFF: Not positioning.
ing Flag
ON: Positioning in progress.
06
Accelerating/
Decelerating
Flag
OFF: No output or constant-speed output.
ON: Acceleration or deceleration in progress for ACC(888) or
PLS2(887).
07
Pulse Output
Flag
OFF: Pulse output stopped.
ON: Pulse output in progress.
Reserved
---
Pulse Output
Completed
Flag
Same as for Pulse Output 1 Status.
08 to 15
A625
Same as for Pulse Output 1 PV.
00
Pulse Output 2
Status
01
Pulse Output
Set Flag
02
Target Frequency Not
Reached Flag
03
Target Comparison Flag
04
Independent
Pulse Output
Flag
05
PLS2 Positioning Flag
06
Accelerating/
Decelerating
Flag
07
Pulse Output
Flag
08 to 15
Reserved
OFF: Pulses not being output or being output continuously.
ON: Pulses being output.
Controlled
by
Module
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A626
Bits
00
Name
Pulse Output 1
Command Bits
01
00
01
Pulse Output 2
Command Bits
02 to 15
A628
Function
OFF: Pulse output 1 PV not reset.
ON: Resets pulse output 1 PV.
Controlled
by
User
Range ComOFF: Does not clear the execution results (A630) or output bit patparison Results tern (A631) from CTBL(882) execution for range comparison for
Clear Bit
the pulse output PV.
ON: Clears the execution results (A630) or output bit pattern
(A631) from CTBL(882) execution for range comparison for the
pulse output PV.
02 to 15
A627
PV Reset Bit
Appendix C
Reserved
---
PV Reset Bit
Same as for Pulse Output 1 Command Bits.
Range Comparison Results
Clear Bit
Reserved
00 to 06 Pulse Output
Reserved
Control Bits
Speed
Change
(Apply to both
pulse outputs 1 Cycle Bit
and 2.)
---
08 to 13
Reserved
---
14
PLS2 Pulse
Output Direction Priority
Mode Bit
OFF: Sets Direction Priority Mode.
In Direction Priority Mode, pulses are output only when the pulse
output direction and the direction of the specified absolute position
are the same.
ON: Sets Absolute Position Priority Mode.
In Absolute Position Priority Mode, pulses are always output in the
direction of the specified absolute position.
07
OFF: Sets the speed change cycle to 2 ms during pulse output for
ACC(888) or PLS2(887).
ON: Sets the speed change cycle to 1 ms during pulse output for
ACC(888) or PLS2(887).
15
Reserved
---
A629
00 to 15 Reserved
---
---
A630
00 to 15 Pulse Output 1
Monitor Data
Range ComContains the CTBL(882) execution results for range comparison.
parison Results Bits 00 to 15 correspond to ranges 1 to 16.
OFF: No match
ON: Match
A631
00 to 15
Output Bit Pat- Contains the output bit pattern when a match is found for
tern
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit patterns with matches will be stored here.
A632
00 to 15 Pulse Output 2
Monitor Data
Range ComSame as for Pulse Output 1 Monitor Data.
parison Results
A633
00 to 15
Output Bit Pattern
--Module
335
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
FQM1-MMA21 Motion Control Modules with Analog I/O
Address
Bits
Name
Function
A550
00 to 15 Analog Input PV
Contains the value input from the analog input port (using either the END
refresh or immediate refresh) in 4-digit hexadecimal.
The PV range depends on the input range:
• 0 to 10 V:
FE70 to 20D0 hex
• 0 to 5 V or 1 to 5 V:
FF38 to 1068 hex
• −10 to 10 V:
DDA0 to 2260 hex
A552
00
User Adjustment Completed
Analog Input Status
Module
OFF: Not adjusted
ON: Adjustment completed
01 to 06
Reserved
07
Analog Sampling Started OFF: Not started
ON: Started
08
Factory Adjustment Data OFF: No Error
Error
ON: Error (Checked at power ON.)
09
User Adjustment Data
Error
10 to 14
Reserved
15
Analog Sampling Overlap OFF: Normal sampling
ON: The next sampling operation occurred before
the present sampling operation completed.
OFF: No Error
ON: Error (Checked at power ON.)
A559
01 to 15 Number of Analog Indicates the number of data samples actually input since sampling started.
Samples
A560
00 to 15 Analog Output 1
Output Value
When an END refresh is selected, the 4-digit hexadecimal value set here by the
user is output from analog output port 1.
When immediate refreshing is selected, the 4-digit hexadecimal value being output from analog output port 1 is stored here for monitoring. The output value
range depends on the output range, as shown below.
• 0 to 10 V, 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
• −10 to 10 V: EA84 to 157C hex
Note
1. Set the analog output method (END or immediate refreshing) with the System
Setup’s output method setting. A setting of 0 hex specifies an END refresh.
This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 1 setting.
A561
00 to 15 Analog Output 2
Output Value
This word has the same settings as the analog output 1 output value (A560),
above. (When an END refresh is selected, set the value to output from analog
output port 2. When an immediate refresh is selected, the output value is stored
here for monitoring.)
Note
1. Set the analog output method (END or immediate refresh) with the System
Setup’s output method setting. A setting of 0 hex specifies an END refresh.
This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 2 setting.
336
Controlled
by
With immediate refresh:
Module
With END
refresh: User
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A562
Bits
00
Name
Analog Output 1
Flags
Function
User Adjustment Completed
Initial value is 0.
Set to 1 if user performs offset/gain adjustment and
Returns to factory default setting of 0 if adjustment
value is cleared.
01 to 03
Reserved
---
04
Operating
ON: ON while the analog output is being changed by
ACC(888).
OFF: Turned OFF when target value is reached.
05 to 07
Reserved
---
08
Output SV Error
ON: ON when the output SV setting is outside of the
allowed setting range.
OFF: OFF when the output SV is within range.
Note Only for END refresh.
09 to 11
Reserved
---
12
Factory Adjustment Value ON: ON when the factory-set data stored in flash
Error
memory is invalid.
OFF: OFF when the factory-set data stored in flash
memory is normal.
13
Reserved
---
14
User Adjustment Value
Error
ON: ON when the user-set adjustment value stored
in flash memory is invalid.
OFF: OFF when the user-set adjustment value
stored in flash memory is normal.
Reserved
---
User Adjustment Completed
Same as for Analog Output 1 Flags.
15
A563
Appendix C
00
01 to 03
Analog Output 2
Flags
Controlled
by
Module
Reserved
04
Operating
05 to 07
Reserved
08
Output SV Error
09 to 11
Reserved
12
Factory Adjustment Value
Error
13
Reserved
14
User Adjustment Value
Error
15
Reserved
337
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
Bits
A564
00
A565
00
A570
00
Name
Analog Output 1
---
01
02
--Adjustment Enable Analog Input
Reserved
Analog Output 1
03
A571
---
Conversion Enable ON: Enables D/A conversion (enables analog output). User
Bit
OFF: Disables DA conversion (analog values output
according to Output Stop Function specification in System Setup).
Note This bit is cleared when the Modules operating
mode is changed between RUN or MONITOR mode
and PROGRAM mode.
01 to 15 Reserved
Adjustment Mode
Command Bits
(Effective only
when A575 is
5A5A hex.)
Analog Output 2
04 to 06
Reserved
07
Adjustment Mode
Specifier
--User
OFF: Adjustment disabled.
ON: Adjustment enabled.
When one of these bits is turned ON,
the default value (offset or gain value)
corresponding to the selected I/O signal
range is transferred to Adjustment
Mode Monitor Area (A572 and A573).
OFF: Offset adjustment
ON: Gain adjustment
08 to 11
Reserved
12
Adjustment Value
Increment
While this bit is ON, the offset or gain value will be
incremented by one resolution unit each 0.5 ms.
13
Adjustment Value
Decrement
While this bit is ON, the offset or gain value will be decremented by one resolution unit each 0.5 ms.
14
Adjustment Value
Clear
OFF to ON: Clears the adjustment data to the factory
defaults.
15
Adjustment Value
Set
OFF to ON: Reads the present value in the Adjustment
Mode Monitor Area (A572 and A573) and saves this
value to flash memory. This adjustment value will be
used for the next normal mode operation.
00
Adjustment Mode
Status
Adjustment Opera- ON when an operational error has been made, such as Module
tion Error
turning ON both the Analog Input and Analog Output 2
Adjustment Enable Bits at the same time.
01 to 14
Reserved
15
Adjustment Mode
Started
ON during adjustment mode operation (when A575
contains 5A5A hex).
Both Analog Input
and Analog Outputs
Setting Offset Monitor
A573
00 to 15 Adjustment Mode
Monitor
(Effective only
when A575 is
00 to 15 5A5A hex.)
A574
00 to 15
Analog Inputs
A575
00 to 15 Adjustment Mode Password
A572
338
Controlled by
Conversion Enable ON: Enables D/A conversion (enables analog output). User
Bit
OFF: Disables DA conversion (analog values output
according to Output Stop Function specification in System Setup).
Note This bit is cleared when the Modules operating
mode is changed between RUN or MONITOR mode
and PROGRAM mode.
01 to 15 Reserved
Analog Output 2
Function
Appendix C
Gain Value
Monitor
Number of
Average
Value Samples in Adjustment Mode
The values in
these words
can be overwritten
directly, without using the
Adjustment
Value Increment/Decrement Bits.
• −10 to 10 V: FE0C to Module/User
01F4 hex
• 0 to 10 V, 0 to 5 V, 1 to
5 V: FF38 to 00C8 hex
• −10 to 10 V: 1194 to
157C hex
• 0 to 10 V, 0 to 5 V, 1 to
5 V: 0ED8 to 1068 hex
Indicates the number of values to be
averaged to obtain the Offset/Gain
Value Monitor values in adjustment
mode. The number of samples can be
set between 0000 and 0040 hex (0 to
64). Set this parameter before turning
ON the Adjustment Enable Bit.
5A5A hex: Adjustment mode enabled.
Other value: Adjustment mode disabled.
User
User
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A600
Bits
00 to 15
A601
00 to 15
A602
00 to 15
A603
00 to 15
A604 to
A605
00 to 15
A606 to
A607
00 to 15
Name
Function
High-speed Counter 1 PV
Highspeed
Counter
2
PV of absoFor following
lute number
counter modes
• Absolute linear of rotations
(CW−)
• Absolute circular
• Absolute linear
(CW+)
Contains the number of rotations data (PV) read from
the Encoder when the SEN signal is input to the
Servo Driver.
8000 0000 to 7FFF FFFF hex
For following
counter modes
• Linear counter
• Circular
counter
Monitor data
• When monitoring counter movements (mode 1),
contains the absolute value of the amount of
change in the PV of the high-speed counter over
the specified sampling time as a 8-digit hexadecimal value (0000 0000 to FFFF FFFF hex).
• When monitoring the counter frequency (mode 2),
contains the frequency of the high-speed counter
calculated from the PV of the high-speed counter
between 0 and 7A120 hex (0 and 500 kHz).
For following
PV of absocounter modes
lute number
• Absolute linear of rotations
(CW−)
• Absolute circular
• Absolute linear
(CW+)
Same as for A604 and A605 for high-speed counter
1 except that measuring the high-speed counter frequency is not possible for high-speed counter 2.
For following
counter modes
• Linear counter
• Circular
counter
Controlled by
Range: 8000 0000 to 7FFF FFFF
Module
Note For a Linear Counter, high-speed counter overflows/underflows are checked when the PV is read
(i.e., when Module internal I/O is refreshed).
High-speed Counter 2 PV
Highspeed
Counter
1
Appendix C
Monitor data
339
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A608
340
Bits
Name
Appendix C
Function
00
High-speed
Target Compar- OFF: Target value comparison is not being performed for
counter 1 status ison InCTBL(882).
progress Flag Note This flag is always OFF for range comparison.
ON: Target value comparison is being performed for CTBL(882).
Note Target comparison is continued without interruption once it
has been started (as opposed to range comparison), so this flag
can be used to check whether target comparison is in progress.
01
PV Overflow/
OFF: There is no counter overflow or underflow in Linear Counter
Underflow Flag Mode. This flag will always be OFF in Circular Counter Mode.
ON: There is a counter overflow or underflow in Linear Counter
Mode. The counter PV will be fixed at the overflow or underflow
limit. This flag will be cleared when the High-speed Counter Start
Bit is turned OFF.
02
Reserved
03
Phase Z Input ON for one cycle when the counter PV is reset with the counter
Reset Flag (ON reset method set to a phase Z + software reset.
for one cycle) Note This flag will turn ON for one cycle after the counter PV is
reset if the phase Z signal (reset input) turns ON while the Highspeed Counter Reset Bit (A610.01) is ON.
04
Absolute No. of OFF: No error
Rotations Read ON: Error
Error Flag
05
Absolute No. of OFF: Rotations being read or reading has not been executed.
Rotations Read ON: Reading has been completed (Turned ON when serial recepCompleted
tion of the number of rotations has been completed.)
Flag
06
Measuring Flag OFF: Changes in the counter PV or the counter frequency is not
(measurement being measured.
mode 1 or 2)
ON: Changes in the counter PV or the counter frequency is being
measured.
In measurement mode 1, this flag will turn ON at the beginning of
the sampling time after the Measurement Start Bit (A610.02) is
turned ON.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
07
High-speed
Counter Operating Flag
08
Count Latched OFF: Count has not been latched.
Flag
ON: Latching the count has been completed for the latch input.
09 to 11
Reserved
---
12
Absolute Offset Preset
Error Flag
OFF: No error occurred when saving the absolute offset.
ON: An error occurred when saving the absolute offset.
13 to 15
Reserved
---
---
OFF: Counter is not operating.
ON: Counter is operating.
Controlled
by
Module
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A609
Bits
00
01
Name
Function
High-speed
Target Compar- Same as for high-speed counter 1.
counter 2 status ison Inprogress Flag
Appendix C
Controlled
by
Module
PV Overflow/
Underflow Flag
02
Reserved
03
Phase Z Input
Reset Flag (ON
for one cycle)
04
Absolute No. of
Rotations Read
Error Flag
05
Absolute No. of
Rotations Read
Completed
Flag
06
Measuring Flag
(measurement
mode 1 or 2)
07
High-speed
Counter Operating Flag
08
Count Latched
Flag
09 to 11
Reserved
12
Absolute Offset Preset
Error Flag
13 to 15
Reserved
341
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A610
Bits
00
High-speed
counter 1 command bits
Function
Controlled
by
Start Bit
OFF: Stops counter operation. The counter PV will be maintained. User
ON: Starts counter operation. The counter PV will not be reset.
Reset Bit
OFF: If a software reset is set in the System Setup, the counter PV
will not be reset when internal I/O is refreshed in the Motion Control Module. If a phase Z + software reset is set, disables the phase
Z input.
ON: If a software reset is set in the System Setup, resets the
counter PV to 0 when internal I/O is refreshed in the Motion Control
Module. If a phase Z + software reset is set, enables the phase Z
input.
02
Measurement
Start Bit
OFF: Disables measuring changes in counter PV or the counter
frequency.
ON: Starts measuring changes in counter PV or the counter frequency.
Note Measuring the high-speed counter frequency is possible only
for high-speed counter 1.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
03
Measurement OFF: Forward (up)
Direction Bit
ON: Reverse (down)
(measurement This bit specifies the up/down direction of the pulse input for fremode 2)
quency measurement.
Note Always set this bit before turning ON the Measurement Start
Bit.
04
Range ComOFF: Does not clear the execution results (A612) or output bit patparison Results tern (A613) from CTBL(882) execution for range comparison for
Clear Bit
the counter.
ON: Clears the execution results (A612) or output bit pattern
(A613) from CTBL(882) execution for range comparison for the
counter.
05
Absolute Offset Preset Bit
OFF: Does not preset the offset.
OFF to ON: Stores the number of multi-turns read from the Servo
Driver and the number of initial incremental pulses as an offset in
the Absolute Offset value in the System Setup.
When establishing the machine origin, the position from the absolute encoder origin is set as the Absolute Offset in the System
Setup as the machine origin.
06
Absolute
Present Value
Preset Bit
OFF: Disables the absolute present value preset.
OFF to ON: Stores the Absolute PV in the counter 1 PV (A600 and
A601).
Note Refer to 7-7-6 Absolute Present Value for details on the
absolute PV.
07
Absolute Num- OFF: Disables reading the number of rotations data from the Servo
ber of RotaDriver.
tions Read Bit OFF to ON: Outputs the SEN output to the Servo Driver and
receives the number of rotations data on the phase A input.
08
Latch Input 1
Enable Bit
OFF: Disables the external latch input 1 signal.
ON: Enables the external latch input 1 signal.
09
Latch Input 2
Enable Bit
OFF: Disables the external latch input 2 signal.
ON: Enables the external latch input 2 signal.
10 to 15
Reserved
---
01
342
Name
Appendix C
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
A611
Bits
00
Name
Function
High-speed
Start Bit
counter 2 comReset
Bit
mand bits
Measurement
Start Bit
01
02
Appendix C
03
Reserved
04
Range Comparison Results
Clear Bit
05
Absolute Offset Preset Bit
06
Absolute
Present Value
Preset Bit
07
Absolute Number of Rotations Read Bit
08
Latch Input 1
Enable Bit
09
Latch Input 2
Enable Bit
10 to 15
Reserved
Same as command bits for high-speed counter 1.
A612
Contains the CTBL(882) execution results for range comparison.
00 to 15 High-speed
Range Comcounter 1 moni- parison Execu- Bits 00 to 15 correspond to ranges 1 to 16.
tor data
tion Results
OFF: No match
Flags
ON: Match
A613
00 to 15
A614
00 to 15 High-speed
Range ComSame as for high-speed counter 1 monitor data.
counter 2 moni- parison Results
tor data
00 to 15
Output Bit Pattern
A615
Controlled
by
User
Module
Output Bit Pat- Contains the output bit pattern when a match is found for
tern
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit patterns with matches will be stored here.
Allocations Related to Built-in Inputs
Input Interrupts
Address
Bits
Name
Function
Controlled by
A520
00 to 15 Interrupt Counter 0
Counter SV
Used for interrupt input 0 in counter mode.
User
Sets the count value at which the interrupt task will start. Interrupt task
000 will start when interrupt counter 0 has counted this number of
pulses.
Setting range: 0000 to FFFF
A521
00 to 15 Interrupt Counter 1
Counter SV
Used for interrupt input 1 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt task
001 will start when interrupt counter 1 has counted this number of
pulses.
Setting range: 0000 to FFFF
A522
00 to 15 Interrupt Counter 2
Counter SV
Used for interrupt input 2 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt task
002 will start when interrupt counter 2 has counted this number of
pulses.
Setting range: 0000 to FFFF
A523
00 to 15 Interrupt Counter 3
Counter SV
Used for interrupt input 3 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt task
003 will start when interrupt counter 3 has counted this number of
pulses.
Setting range: 0000 to FFFF
343
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
Bits
Name
A524
00 to 15 Interrupt Counter 0
Counter PV
A525
00 to 15 Interrupt Counter 1
Counter PV
A526
00 to 15 Interrupt Counter 2
Counter PV
A527
00 to 15 Interrupt Counter 3
Counter PV
Function
Appendix C
Controlled by
These words contain the interrupt counter PVs for interrupt input 0 to 3 Module
operating in counter mode.
The counter PV starts decrementing from the counter SV. When the
counter PV reaches the 0, the PV is automatically reset to the SV.
Range: 0000 to FFFF
Allocations That Are the Same for the Coordinator Module and Motion
Control Modules
System Flags
Address
A000 to
A015
Bits
Name
Function
Controlled by
00 to 15 Subroutine Input Condi- These flags contain the status of the input condition for JSB(982) when Module
tion Flags
JSB(982) is used to call a subroutine.
Address
Word
Corresponding subroutines
Bits
A000
00 to 15
SBN000 to SBN015
A001
00 to 15
SBN016 to SBN031
A002
00 to 15
SBN032 to SBN047
to
to
to
A015
00 to 15
SBN240 to SBN255
A206 to
A207
00 to 15 Maximum Cycle Time
These words store the maximum cycle time every cycle. The cycle
time is recorded in 8-digit hexadecimal
(unit: 0.01 ms).
A208 to
A209
00 to 15 Present Cycle Time
These words store the present cycle time every cycle in 8-digit hexadecimal (unit: 0.01 ms).
Program Error Flags
Address
Bits
Name
Function
A401
09
Program Error Flag
(fatal error)
ON when program contents are incorrect.
Module operation will stop.
A405
11
No END Error Flag
ON when there isn’t an END(001) instruction in each program within a
task.
12
Task Error Flag
ON when a task error has occurred. The following conditions generate
a task error.
There isn’t a program allocated to the task.
13
Differentiation Overflow The allowed value for Differentiation Flags which correspond to differError Flag
entiation instructions has been exceeded.
14
Illegal Instruction Error
Flag
15
UM Overflow Error Flag ON when the last address in UM (User Memory) has been exceeded.
Controlled by
Module
ON when a program that cannot be executed has been stored.
Other Error Flags and Bits
Error Log and Error Code
Address
Bits
Name
Function
A100 to
A199
00 to 15 Error Log Area
When an error has occurred, the error code and error contents are
stored in the Error Log Area.
A408
00 to 15 Error Log Pointer
When an error occurs, the Error Log Pointer (binary) is incremented by
1 to indicate the location where the next error will be recorded as an
offset from the beginning of the Error Log Area (A100 to A199).
344
Controlled by
Module
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Address
Bits
Name
A500
14
A400
00 to 15 Error code
Function
Error Log Pointer Reset The error log pointer in A408 is reset to 0000 hex and Memory Not
and Memory Not Held
Held Flag (A404.14) is turned OFF when this bit is turned ON.
Flag OFF Bit
Appendix C
Controlled by
User
When a non-fatal error (user-defined FAL(006) or system error) or a
Module
fatal error (user-defined FALS(007) or system error) occurs, the hexadecimal error code is written to this word.
FAL/FALS Errors
Address
Bits
Name
Function
A401
06
FALS Error Flag
(fatal error)
Turns ON when a non-fatal error is generated by the FALS(006)
instruction. The FQM1 will stop operating.
A402
15
FAL Error Flag
(non-fatal error)
Turns ON when a non-fatal error is generated by executing FAL(006).
The FQM1 will continue operating.
Controlled by
Module
Memory Errors
Address
Bits
Name
Function
A401
15
Memory Error Flag (fatal Turns ON when there is an error in the memory. FQM1 operation will
error)
stop and the ERR indicators on the front of the Modules will light.
A403
00
UM Error Flag
Turns ON when there is an error in the user memory.
04
System Setup Error
Flag
Turns ON when there is an error in the System Setup in the Coordinator Module or Motion Control Module.
10
Flash Memory Error
Flag
Turns ON when the flash memory is physically destroyed.
13
Analog Offset/Gain
Error Flag
Turns ON when there is an error in the analog I/O offset/gain adjustment value in flash memory.
14
Flash Memory DM
Checksum Error Flag
Turns ON when there is an error in the DM Area data backed up in
flash memory in the Coordinator Module.
14
Memory Not Held Flag
Turns ON when corruption is found in the check performed after turning ON power in the areas backed up during power interruptions (DM
Area (Coordinator Module only) and Error Log Area).
A404
Controlled by
Module
System Setup
Address
Bits
Name
A402
10
System Setup Error
Flag
A409
00 to 15 System Setup Error
Location
Function
Turns ON when there is a setting error in the System Setup.
Controlled by
Module
When there is a setting error in the System Setup, the location of that
error is written to A409 in 4-digit hexadecimal.
I/O Errors
Address
A401
Bits
10
Name
I/O Setting Error Flag
Function
Controlled by
Turns ON when more than four Motion Control Modules are connected Module
to the Coordinator Module.
Module Errors
Address
A402
Bits
Name
Function
Turns ON in the Coordinator Module when a system error, such as a
WDT error, occurs in any of the Motion Control Modules.
05
Motion Control Module
Monitoring Error Flag
(Coordinator Module
only)
13
Coordinator Module
Turns ON in the Motion Control Modules when a WDT error occurs in
WDT Error Flag (Motion the Coordinator Module.
Control Modules only)
14
Coordinator Module
Turns ON in the Motion Control Modules when a fatal error occurs in
Fatal Error Flag (Motion the Coordinator Module.
Control Modules only)
Controlled by
Module
345
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
Other
Address
Bits
Name
Function
Controlled by
A401
08
Cycle Time Too Long
Flag (fatal error)
Turns ON if the cycle time exceeds the maximum cycle time set in the Module
System Setup (the Watch Cycle Time).
A404
05
Constant Cycle Time
Exceeded Flag
Turns ON when the actual cycle time exceeds the specified constant
(minimum) cycle time.
06
Sync Cycle Time Too
Long Flag
Turns ON when one of the Modules exceeds the specified sync cycle
time. (Coordinator Module only)
15
Constant Cycle Time
Exceeded Error Clear
Bit
Used to enable the constant cycle time function again after the constant cycle time has been exceeded.
A509
User
Allocations Related to DM Data Transfer (Coordinator Module Only)
Address
A530
Bits
Name
Function
00
DM Write Request Bit
DM data transfer is executed from the Coordinator Module to Motion
(Coordinator Module to Control Module when this bit turns ON.
Motion Control Module)
01
DM Read Request Bit
DM data transfer is executed from the Motion Control Module to Coor(Motion Control Module dinator Module when this bit turns ON.
to Coordinator Module)
A531
00 to 15 Slot No. of Motion Con- Specifies the slot number (in 4-digit hexadecimal) for the Motion Control Module for DM
trol Module with which DM data is to be transferred.
Transfer
0001: Motion Control Module #1
0002: Motion Control Module #2
0003: Motion Control Module #3
0004: Motion Control Module #4
A532
00 to 15 DM Transfer Size (num- Specifies the size, in number of words, of the DM data to be transber of words)
ferred.
0001 to 01F3 hex (1 to 499 words)
A533
00 to 15 First DM Transfer
Source Word
A534
00 to 15 First DM Transfer Desti- Specifies the first address of the DM transfer destination in the Coordination Word
nator Module or Motion Control Module.
0000 to 7FFF hex
A535
14
Transfer Error Flag
Turns ON when a DM data transfer error occurs.
15
Transfer Busy Flag
Turns ON during DM data transfer and turns OFF when the transfer
has been completed.
Controlled by
User
Specifies the first address of the DM transfer source in the Coordinator
Module or Motion Control Module.
0000 to 7FFF hex
Communications
Peripheral Port
Address
A412
A502
346
Bits
Name
02 to 05 Peripheral Port Error
Flags
Function
Indicates the status of the error flags that turn ON when an error has
occurred at the peripheral port.
08
Peripheral Port Commu- Turns ON when a communications error has occurred at the peripheral
nications Error Flag
port.
15
Peripheral Port Settings Turns ON while the peripheral port’s communications settings are
Changing Flag
being changed.
01
Peripheral Port Restart
Bit
Turn this bit ON to restart the peripheral port.
This bit is turned OFF automatically when the restart processing is
completed.
Controlled by
Module
User
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Appendix C
RS-232C Port
Address
A410
Bits
Name
02 to 05 RS-232C Port Error
Flags
Function
Indicates the status of the error flags that turn ON when an error has
occurred at the RS-232C port.
08
RS-232C Port Commu- Turns ON when a communications error has occurred at the RS-232C
nications Error Flag
port.
09
RS-232C Port Send
Turns ON when the RS-232C port is ready to send data in no-protocol
Ready Flag (no-protocol mode.
mode)
10
RS-232C Port Reception Completed Flag
(no-protocol mode)
Turns ON when the RS-232C port has completed the reception in noprotocol mode.
11
RS-232C Port Reception Overflow Flag (noprotocol mode)
Turns ON when a data overflow occurred during reception through the
RS-232C port in no-protocol mode.
15
RS-232C Port Settings
Changing Flag
Turns ON while the RS-232C port’s communications settings are being
changed.
A411
00 to 15 RS-232C Port Reception Counter (no-protocol mode)
Indicates (in binary) the number of bytes of data received when the
RS-232C port is in no-protocol mode.
A502
00
Turn this bit ON to restart the RS-232C port.
This bit is turned OFF automatically when the restart processing is
completed.
RS-232C Port Restart
Bit
Controlled by
Module
User
RS-422A Port
Address
A414
Bits
Name
02 to 05 RS-422A Port Error
Flags
Function
Indicates the status the error flags that turn ON when an error has
occurred at the RS-422A port.
08
RS-422A Port Commu- Turns ON when a communications error has occurred at the RS-422A
nications Error Flag
port.
09
RS-422A Port Send
Turns ON when the RS-422A port is ready to send data in no-protocol
Ready Flag (no-protocol mode.
mode)
10
RS-422A Port Reception Completed Flag
(no-protocol mode)
Turns ON when the RS-422A port has completed the reception in noprotocol mode.
11
RS-422A Port Reception Overflow Flag (noprotocol mode)
Turns ON when a data overflow occurred during reception through the
RS-422A port in no-protocol mode.
15
RS-422A Port Settings
Changing Flag
Turns ON while the RS-422A port’s communications settings are being
changed.
A415
00 to 15 RS-422A Port Reception Counter (no-protocol mode)
Indicates (in binary) the number of bytes of data received when the
RS-422A port is in no-protocol mode.
A502
02
Turn this bit ON to restart the RS-422A port.
This bit is turned OFF automatically when the restart processing is
completed.
RS-422A Port Restart
Bit
Controlled by
Module
User
Allocations Directly Related to Instructions
Address
A200
Bits
Name
Function
11
First Cycle Flag
ON for one cycle after FQM1 operation begins.
12
Step Flag
ON for one cycle when step execution is started with STEP(008).
A510 to
A514
00 to 15 Macro Area Input Words Before the subroutine specified in MCRO(099) is executed, the contents of the five words specified in the operand to be passed to the
subroutine are stored here.
A515 to
A519
00 to 15 Macro Area Output
Words
Controlled by
Module
After the subroutine specified in MCRO(099) has been executed, the
results of the subroutine are transferred to these five words.
Built-in I/O Allocations
The Coordinator Module and Motion Control Modules all have built-in I/O. The I/O Area allocations to the contacts on the Modules are given in the following tables.
347
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
Coordinator Module Built-in I/O Allocations
Inputs (40-pin General-purpose I/O Connector)
Name
I/O Area allocations
External input 0
CIO 0000.00
External input 1
CIO 0000.01
to
to
External input 15
CIO 0000.15
Outputs (40-pin General-purpose I/O Connector)
Name
I/O Area allocations
External output 0
CIO 0001.00
External output 1
CIO 0001.01
to
to
External output 7
CIO 0010.07
Motion Control Module Built-in I/O Allocations
Inputs (26-pin General-purpose I/O Connector)
Name
I/O Area allocations
External input 0 (interrupt) CIO 0000.00
External input 1 (interrupt) CIO 0000.01
External input 2 (interrupt) CIO 0000.02
External input 3 (interrupt) CIO 0000.03
to
to
External input 11
CIO 0000.11
Outputs (26-pin General-purpose I/O Connector)
Name
I/O Area allocations
External output 0
CIO 0001.00
External output 1
CIO 0001.01
to
to
External output 7
CIO 0001.07
348
Appendix C
Appendix D
Auxiliary Area Allocations
Auxiliary Area Allocations in Order of Address
The following table lists the Auxiliary Area allocations in order of address. Refer to Auxiliary Area Allocations by
Function on page 329 for a list of allocations by function.
Read-only Words: A000 to A447, Read/Write Words: A448 to A649
Address
A000 to
A015
Bits
Name
00 to 15 Subroutine Input Condition Flags
Function
These flags contain the status of the input condition for JSB(982)
when JSB(982) is used to call a subroutine.
Address
Word
A100 to
A199
A200
A202
00 to 15 Error Log Area
Corresponding
subroutines
Bits
A000
00 to 15
SBN000 to SBN015
A001
00 to 15
SBN016 to SBN031
A002
00 to 15
SBN032 to SBN047
to
to
to
A015
00 to 15
SBN240 to SBN255
When an error has occurred, the error code and error contents
are stored in the Error Log Area.
11
First Cycle Flag
ON for one cycle after FQM1 operation begins.
12
Step Flag
ON for one cycle when step execution is started with STEP(008).
00
Motion Control Module slot 1
ON if the Motion Control Module is in slot 1.
01
Motion Control Module slot 2
ON if the Motion Control Module is in slot 2.
02
Motion Control Module slot 3
ON if the Motion Control Module is in slot 3.
03
Motion Control Module slot 4
ON if the Motion Control Module is in slot 4.
A206 to
A207
00 to 15 Maximum Cycle Time
These words store the maximum cycle time every cycle. The
cycle time is recorded in 8-digit hexadecimal (unit: 0.01 ms).
A208 to
A209
00 to 15 Present Cycle Time
These words stores the present cycle time every cycle in 8-digit
hexadecimal (unit: 0.01 ms).
A400
00 to 15 Error code
When a non-fatal error (user-defined FAL(006) or system error) or
a fatal error (user-defined FALS(007) or system error) occurs, the
hexadecimal error code is written to this word.
A401
06
FALS Error Flag
(fatal error)
Turns ON when a non-fatal error is generated by the FALS(006)
instruction. The FQM1 will stop operating.
08
Cycle Time Too Long Flag (fatal error)
Turns ON if the cycle time exceeds the maximum cycle time set in
the System Setup (the Watch Cycle Time).
09
Program Error Flag
(fatal error)
ON when program contents are incorrect.
Module operation will stop.
10
I/O Setting Error Flag
Turns ON when more than four Motion Control Modules are connected to the Coordinator Module.
14
I/O Bus Error Flag
Turns ON when an error occurs in transferring data between the
Coordinator Module and Motion Control Modules. Module operation will stop.
15
Memory Error Flag (fatal error)
Turns ON when there is an error in the memory. FQM1 operation
will stop and the ERR indicators on the front of the Modules will
light.
05
Motion Control Module Monitoring Error Flag
(Coordinator Module only)
Turns ON in the Coordinator Module when a system error, such
as a WDT error, occurs in any of the Motion Control Modules.
10
System Setup Error Flag
Turns ON when there is a setting error in the System Setup.
13
Coordinator Module WDT Error Flag (Motion
Control Modules only)
Turns ON in the Motion Control Modules when a WDT error
occurs in the Coordinator Module.
14
Coordinator Module Fatal Error Flag (Motion
Control Modules only)
Turns ON in the Motion Control Modules when a fatal error occurs
in the Coordinator Module.
15
FAL Error Flag
(non-fatal error)
Turns ON when a non-fatal error is generated by executing
FAL(006). The FQM1 will continue operating.
A402
349
Appendix D
Auxiliary Area Allocations
Address
A403
A404
A405
Bits
Name
Function
00
UM Error Flag
Turns ON when there is an error in the user memory.
04
System Setup Error Flag
Turns ON when there is an error in the System Setup in the Coordinator Module or Motion Control Module.
10
Flash Memory Error Flag
Turns ON when the flash memory is physically destroyed.
13
Analog Offset/Gain Error Flag
Turns ON when there is an error in the analog I/O offset/gain
adjustment value in flash memory.
14
Flash Memory DM Checksum Error Flag
(Coordinator Module only)
Turns ON when there is an error in the DM Area data backed up
in flash memory in the Coordinator Module.
05
Constant Cycle Time Exceeded Flag
Turns ON when the actual cycle time exceeds the specified constant (minimum) cycle time.
06
Sync Cycle Time Too Long Flag
Turns ON when one of the Modules exceeds the specified sync
cycle time. (Coordinator Module only)
14
Memory Not Held Flag
Turns ON when corruption is found in the check performed after
turning ON power in the areas backed up during power interruptions (DM Area (Coordinator Module only) and Error Log Area).
11
No END Error Flag
ON when there isn’t an END(001) instruction in each program
within a task.
12
Task Error Flag
ON when a task error has occurred. The following conditions generate a task error.
There isn’t a program allocated to the task.
13
Differentiation Overflow Error Flag
The allowed value for Differentiation Flags which correspond to
differentiation instructions has been exceeded.
14
Illegal Instruction Error Flag
ON when a program that cannot be executed has been stored.
15
UM Overflow Error Flag
ON when the last address in UM (User Memory) has been
exceeded.
A408
00 to 15 Error Log Pointer
When an error occurs, the Error Log Pointer (binary) is incremented by 1 to indicate the location where the next error will be
recorded as an offset from the beginning of the Error Log Area
(A100 to A199).
A409
00 to 15 System Setup Error Location
When there is a setting error in the System Setup, the location of
that error is written to A409 in 4-digit hexadecimal.
A410
02
These error flags turn ON when an error has occurred at the RS232C port.
03
04
A411
A412
05
Timeout Error Flag
08
RS-232C Port Communications Error Flag
Turns ON when a communications error has occurred at the RS232C port.
09
RS-232C Port Send Ready Flag (no-protocol
mode)
Turns ON when the RS-232C port is ready to send data in no-protocol mode.
10
RS-232C Port Reception Completed Flag (noprotocol mode)
Turns ON when the RS-232C port has completed the reception in
no-protocol mode.
11
RS-232C Port Reception Overflow Flag (no-pro- Turns ON when a data overflow occurred during reception
tocol mode)
through the RS-232C port in no-protocol mode.
15
RS-232C Port Settings Changing Flag
00 to 15 RS-232C Port Reception Counter (no-protocol
mode)
02
03
04
05
350
RS-232C Parity Error Flag
Port
Framing Error Flag
Error
Flags
Overrun Error Flag
Peripheral Port
Error
Flags
Parity Error Flag
Framing Error Flag
Turns ON while the RS-232C port’s communications settings are
being changed.
Indicates (in binary) the number of bytes of data received when
the RS-232C port is in no-protocol mode.
These error flags turn ON when an error has occurred at the
peripheral port.
Overrun Error Flag
Timeout Error Flag
08
Peripheral Port Communications Error Flag
Turns ON when a communications error has occurred at the
peripheral port.
15
Peripheral Port Settings Changing Flag
Turns ON while the peripheral port’s communications settings are
being changed.
Appendix D
Auxiliary Area Allocations
Address
A414
Bits
02
03
04
Name
RS-422A Parity Error Flag
Port
Framing Error Flag
Error
Flags
Overrun Error Flag
Function
These error flags turn ON when an error has occurred at the RS422A port.
05
Timeout Error Flag
08
RS-422A Port Communications Error Flag
Turns ON when a communications error has occurred at the RS422A port.
09
RS-422A Port Send Ready Flag (no-protocol
mode)
Turns ON when the RS-422A port is ready to send data in no-protocol mode.
10
RS-422A Port Reception Completed Flag (noprotocol mode)
Turns ON when the RS-422A port has completed the reception in
no-protocol mode.
11
RS-422A Port Reception Overflow Flag (no-pro- Turns ON when a data overflow occurred during reception
tocol mode)
through the RS-422A port in no-protocol mode.
15
RS-422A Port Settings Changing Flag
Turns ON while the RS-422A port’s communications settings are
being changed.
A415
00 to 15 RS-422A Port Reception Counter (no-protocol
mode)
Indicates (in binary) the number of bytes of data received when
the RS-422A port is in no-protocol mode.
A500
14
Error Log Pointer Reset and Memory Not Held
Flag OFF Bit
The error log pointer in A408 is reset to 0000 hex and Memory
Not Held Flag (A404.14) is turned OFF when this bit is turned
ON.
A502
00
RS-232C Port Restart Bit
Turn this bit ON to restart the RS-232C port.
This bit is turned OFF automatically when the restart processing
is completed.
01
Peripheral Port Restart Bit
Turn this bit ON to restart the peripheral port.
This bit is turned OFF automatically when the restart processing
is completed.
02
RS-422A Port Restart Bit
Turn this bit ON to restart the RS-422A port.
This bit is turned OFF automatically when the restart processing
is completed.
A507
00 to 15 Data Trace Period
Data will be traced using the period specified here when tracing
each cycle is specified from the CX-Programmer.
0000 hex: Each cycle
0001 to 000F hex: Every 2 to 16 cycles
A508
09
Differentiate Monitor Completed Flag
Turns ON when the differentiate monitor condition has been
established during execution of differentiation monitoring.
(This flag will be turned OFF when differentiation monitoring
starts.)
11
Trace Trigger Monitor Flag
Turns ON when a trigger condition is established by the Trace
Start Bit (A508.14). OFF when the next Data Trace is started by
the Sampling Start bit (A508.15).
12
Trace Completed Flag
Turns ON when sampling of a region of trace memory has been
completed during execution of a Trace.
Turns OFF when the next time the Sampling Start Bit (A508.15) is
turned from OFF to ON.
13
Trace Busy Flag
Turns ON when the Sampling Start Bit (A508.15) is turned from
OFF to ON. Turns OFF when the trace is completed.
14
Trace Start Bit
Turn this bit ON to establish the trigger condition. The offset indicated by the delay value (positive or negative) determines which
data samples are valid.
15
Sampling Start Bit
When a data trace is started by turning this bit from OFF to ON
from the CX-Programmer, the FQM1 will begin storing data in
Trace Memory by one of the three following methods:
1) Data is sampled at regular intervals (10 to 2,550 ms).
2) Data is sampled when TRSM(045) is executed in the program.
3) Data is sampled at the end of every cycle.
The operation of A508.15 can be controlled only from the CX-Programmer.
A509
15
Constant Cycle Time Exceeded Error Clear Bit
Used to enable the constant cycle time function again after the
constant cycle time has been exceeded.
A510 to
A514
00 to 15 Macro Area Input Words
Before the subroutine specified in MCRO(099) is executed, the
contents of the five words specified in the operand to be passed
to the subroutine are stored here.
A515 to
A519
00 to 15 Macro Area Output Words
After the subroutine specified in MCRO(099) has been executed,
the results of the subroutine are transferred to these five words.
351
Appendix D
Auxiliary Area Allocations
Address
Bits
Name
Function
A520
00 to 15 Interrupt Counter 0 Counter SV
Used for interrupt input 0 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt
task 000 will start when interrupt counter 0 has counted this number of pulses.
Setting range: 0000 to FFFF
A521
00 to 15 Interrupt Counter 1 Counter SV
Used for interrupt input 1 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt
task 001 will start when interrupt counter 1 has counted this number of pulses.
Setting range: 0000 to FFFF
A522
00 to 15 Interrupt Counter 2 Counter SV
Used for interrupt input 2 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt
task 002 will start when interrupt counter 2 has counted this number of pulses.
Setting range: 0000 to FFFF
A523
00 to 15 Interrupt Counter 3 Counter SV
Used for interrupt input 3 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt
task 003 will start when interrupt counter 3 has counted this number of pulses.
Setting range: 0000 to FFFF
A524
00 to 15 Interrupt Counter 0 Counter PV
A525
00 to 15 Interrupt Counter 1 Counter PV
A526
00 to 15 Interrupt Counter 2 Counter PV
A527
00 to 15 Interrupt Counter 3 Counter PV
These words contain the interrupt counter PVs for interrupt input
0 to 3 operating in counter mode.
The counter PV starts decrementing from the counter SV. When
the counter PV reaches the 0, the PV is automatically reset to the
SV.
Range: 0000 to FFFF
A530
00
DM Write Request Bit (Coordinator Module to
Motion Control Module)
01
DM Read Request Bit (Motion Control Module to DM data transfer is executed from the Motion Control Module to
Coordinator Module)
Coordinator Module when this bit turns ON.
DM data transfer is executed from the Coordinator Module to
Motion Control Module when this bit turns ON.
A531
00 to 15 Slot No. of Motion Control Module for DM Trans- Specifies the slot number (in 4-digit hexadecimal) for the Motion
fer
Control Module with which DM data is to be transferred.
0001: Motion Control Module #1
0002: Motion Control Module #2
0003: Motion Control Module #3
0004: Motion Control Module #4
A532
00 to 15 DM Transfer Size (number of words)
Specifies the size, in number of words, of the DM data to be transferred.
0001 to 01F3 hex (1 to 499 words)
A533
00 to 15 First DM Transfer Source Word
Specifies the first address of the DM transfer source in the Coordinator Module or Motion Control Module.
0000 to 7FFF hex
A534
00 to 15 First DM Transfer Destination Word
Specifies the first address of the DM transfer destination in the
Coordinator Module or Motion Control Module.
0000 to 7FFF hex
14
Transfer Error Flag
Turns ON when a DM data transfer error occurs.
15
Transfer Busy Flag
Turns ON during DM data transfer and turns OFF when the transfer has been completed.
A535
A550
00 to 15 Analog Input PV
Contains the value input from the analog input port (using either
the END refresh or immediate refresh) in 4-digit hexadecimal.
The PV range depends on the input range:
• 0 to 10 V:
FE70 to 20D0 hex
• 0 to 5 V or 1 to 5 V:
FF38 to 1068 hex
DDA0 to 2260 hex
• −10 to 10 V:
A552
00
User Adjustment
Completed
OFF: Not adjusted
ON: Adjustment completed
07
Analog Sampling
Started
OFF: Not started
ON: Started
08
Factory Adjustment OFF: No Error
Data Error
ON: Error (Checked at power ON.)
09
User Adjustment
Data Error
OFF: No Error
ON: Error (Checked at power ON.)
15
Analog Sampling
Overlap
OFF: Normal sampling
ON: The next sampling operation occurred
before the present sampling operation completed.
352
Analog Input Status
Appendix D
Auxiliary Area Allocations
Address
Bits
Name
Function
A559
00 to 15 Number of Analog Samples
Indicates the number of data samples actually input since sampling started.
A560
00 to 15 Analog Output 1 Output Value
When an END refresh is selected, the 4-digit hexadecimal value
set here by the user is output from analog output port 1.
When immediate refreshing is selected, the 4-digit hexadecimal
value being output from analog output port 1 is stored here for
monitoring. The output value range depends on the output range,
as shown below.
• 0 to 10 V, 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
• −10 to 10 V: EA84 to 157C hex
Note
1. Set the analog output method (END or immediate refreshing)
with the System Setup’s output method setting. A setting of 0
hex specifies an END refresh. This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 1 setting.
A561
00 to 15 Analog Output 2 Output Value
This word has the same settings as the analog output 1 output
value (A560), above. (When an END refresh is selected, set the
value to output from analog output port 2. When an immediate
refresh is selected, the output value is stored here for monitoring.)
Note
1. Set the analog output method (END or immediate refresh) with
the System Setup’s output method setting. A setting of 0 hex
specifies an END refresh. This setting applies to both analog
output 1 and 2.
2. Specify the output range with the output 2 setting.
A562
00
A563
Analog Output 1 Flags
User Adjustment Initial value is 0.
Completed
Set to 1 if user performs offset/gain adjustment and Returns to
factory default setting of 0 if adjustment value is cleared.
04
Operating
ON: ON while the analog output is being changed by ACC(888).
OFF: Turned OFF when target value is reached.
08
Output SV Error
ON: ON when the output SV setting is outside of the allowed setting range.
OFF: OFF when the output SV is within range.
12
Factory Adjustment Value
Error
ON: ON when the factory-set data stored in flash memory is
invalid.
OFF: OFF when the factory-set data stored in flash memory is
normal.
14
User Adjustment ON: ON when the user-set adjustment value stored in flash memValue Error
ory is invalid.
OFF: OFF when the user-set adjustment value stored in flash
memory is normal.
00
Analog Output 2 Flags
User Adjustment Same as for Analog Output 1 Flags.
Completed
04
Operating
08
Output SV Error
12
Factory Adjustment Value
Error
14
User Adjustment
Value Error
A564
00
Analog Output 1 Conversion Enable Bit
ON: Enables D/A conversion (enables analog output).
OFF: Disables D/A conversion (analog values output according to
Output Stop Function specification in System Setup).
Note This bit is cleared when the Modules operating mode is
changed between RUN or MONITOR mode and PROGRAM
mode.
A565
00
Analog Output 2 Conversion Enable Bit
ON: Enables D/A conversion (enables analog output).
OFF: Disables D/A conversion (analog values output according to
Output Stop Function specification in System Setup).
Note This bit is cleared when the Modules operating mode is
changed between RUN or MONITOR mode and PROGRAM
mode.
353
Appendix D
Auxiliary Area Allocations
Address
A570
Bits
00
02
03
Name
Adjustment Mode Command
Bits
(Effective only when A575 is
5A5A hex.)
Function
Adjustment
Enable
Analog Input
Analog Output 1
Analog Output 2
OFF: Adjustment disabled.
ON: Adjustment enabled.
When one of these bits is turned ON, the
default value (offset or gain value) corresponding to the selected I/O signal range is
transferred to Adjustment Mode Monitor
Area (A572 and A573).
07
Adjustment
Mode Specifier
12
Adjustment
While this bit is ON, the offset or gain value will be incremented
Value Increment by one resolution unit each 0.5 ms.
13
Adjustment
Value Decrement
While this bit is ON, the offset or gain value will be decremented
by one resolution unit each 0.5 ms.
14
Adjustment
Value Clear
OFF to ON: Clears the adjustment data to the factory defaults.
15
Adjustment
Value Set
OFF to ON: Reads the present value in the Adjustment Mode
Monitor Area (A572 and A573) and saves this value to flash memory. This adjustment value will be used for the next normal mode
operation.
Adjustment
Operation Error
ON when an operational error has been made, such as turning
ON both the Analog Input and Analog Output 2 Adjustment
Enable Bits at the same time.
15
Adjustment
Mode Started
ON during adjustment mode operation (when A575 contains
5A5A hex).
A572
00 to 15 Adjustment Mode Monitor
(Effective only when A575 is
5A5A hex.)
Both Analog
Input and Analog Outputs
A573
00 to 15
Setting Offset Mon- The values in these • −10 to 10 V: FE0C to
itor
words can be over01F4 hex
written directly,
• 0 to 10 V, 0 to 5 V, 1
without using the
to 5 V: FF38 to 00C8
Adjustment Value
hex
Increment/DecreGain Value Monitor ment Bits.
• −10 to 10 V: 1194 to
157C hex
• 0 to 10 V, 0 to 5 V, 1
to 5 V: 0ED8 to 1068
hex
A574
00 to 15
Analog Inputs
Number of Average Indicates the number of values to be averValue Samples in
aged to obtain the Offset/Gain Value MoniAdjustment Mode
tor values in adjustment mode. The number
of samples can be set between 0000 and
0040 hex (0 to 64). Set this parameter
before turning ON the Adjustment Enable
Bit.
A575
00 to 15 Adjustment Mode Password
5A5A hex: Adjustment mode enabled.
Other value: Adjustment mode disabled.
A600
00 to 15 High-speed Counter 1 PV
A601
00 to 15
A602
00 to 15 High-speed Counter 2 PV
Range: 8000 0000 to 7FFF FFFF
Note For a Linear Counter, high-speed counter overflows/underflows are checked when the PV is read (i.e., when Module internal I/O is refreshed).
A571
00
Adjustment Mode Status
A603
00 to 15
A604 to
A605
00 to 15 Highspeed
Counter
1
354
OFF: Offset adjustment
ON: Gain adjustment
For following
PV of absolute
counter modes
number of rotations
• Absolute linear
(CW−)
• Absolute circular
• Absolute linear
(CW+)
Contains the number of rotations data (PV) read from the
Encoder when the SEN signal is input to the Servo Driver.
8000 0000 to 7FFF FFFF hex
For following
counter modes
• Linear counter
• Circular counter
• When monitoring counter movements (mode 1), contains the
absolute value of the amount of change in the PV of the highspeed counter over the specified sampling time as a 8-digit
hexadecimal value (0000 0000 to FFFF FFFF hex).
• When monitoring the counter frequency (mode 2), contains the
frequency of the high-speed counter calculated from the PV of
the high-speed counter between 0 and 7A120 hex (0 and 500
kHz).
Monitor data
Appendix D
Auxiliary Area Allocations
Address
A606 to
A607
Bits
Name
00 to 15 Highspeed
Counter
2
For following
counter modes
• Linear counter
• Circular counter
A608
A609
00
Function
For following
PV of absolute
counter modes
number of rotations
• Absolute linear
(CW−)
• Absolute circular
• Absolute linear
(CW+)
Same as for A604 and A605 for high-speed counter 1 except that
measuring the high-speed counter frequency is not possible for
high-speed counter 2.
Monitor data
Target Comparison In-progress Flag
Highspeed
counter 1
status
OFF: Target value comparison is not being performed for
CTBL(882).
Note This flag is always OFF for range comparison.
ON: Target value comparison is being performed for CTBL(882).
Note Target comparison is continued without interruption once it
has been started (as opposed to range comparison), so this flag
can be used to check whether target comparison is in progress.
01
PV Overflow/Underflow Flag
OFF: There is no counter overflow or underflow in Linear Counter
Mode. This flag will always be OFF in Circular Counter Mode.
ON: There is a counter overflow or underflow in Linear Counter
Mode. The counter PV will be fixed at the overflow or underflow
limit. This flag will be cleared when the High-speed Counter Start
Bit is turned OFF.
03
Phase Z Input Reset Flag (ON for
one cycle)
ON for one cycle when the counter PV is reset with the counter
reset method set to a phase Z + software reset.
Note This flag will turn ON for one cycle after the counter PV is
reset if the phase Z signal (reset input) turns ON while the Highspeed Counter Reset Bit (A610.01) is ON.
04
Absolute No. of Rotations Read Error OFF: No error
Flag
ON: Error
05
Absolute No. of Rotations Read
Completed Flag
OFF: Rotations being read or reading has not been executed.
ON: Reading has been completed (Turned ON when serial reception of the number of rotations has been completed.)
06
Measuring Flag (measurement mode
1 or 2)
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
OFF: Changes in the counter PV or the counter frequency is not
being measured.
ON: Changes in the counter PV or the counter frequency is being
measured.
In measurement mode 1, this flag will turn ON at the beginning of
the sampling time after the Measurement Start Bit (A610.02) is
turned ON.
07
High-speed Counter Operating Flag
OFF: Counter is not operating.
ON: Counter is operating.
08
Count Latched Flag
OFF: Count has not been latched.
ON: Latching the count has been completed for the latch input.
12
Absolute Offset Preset Error Flag
OFF: No error occurred when saving the absolute offset.
ON: An error occurred when saving the absolute offset.
00
01
03
HighTarget Comparison In-progress Flag
speed
PV
Overflow/Underflow Flag
counter 2
status
Phase Z Input Reset Flag (ON for
one cycle)
04
Absolute No. of Rotations Read Error
Flag
05
Absolute No. of Rotations Read
Completed Flag
06
Measuring Flag (measurement mode
1 or 2)
07
High-speed Counter Operating Flag
08
Count Latched Flag
12
Absolute Offset Preset Error Flag
Same as for high-speed counter 1.
355
Appendix D
Auxiliary Area Allocations
Address
A610
Bits
00
01
A611
Function
OFF: Stops counter operation. The counter PV will be maintained.
ON: Starts counter operation. The counter PV will be reset.
OFF: If a software reset is set in the System Setup, the counter
PV will not be reset when internal I/O is refreshed in the Motion
Control Module. If a phase Z + software reset is set, disables the
phase Z input.
ON: If a software reset is set in the System Setup, resets the
counter PV to 0 when internal I/O is refreshed in the Motion Control Module. If a phase Z + software reset is set, enables the
phase Z input.
02
Measurement Start Bit
OFF: Disables measuring changes in counter PV or the counter
frequency.
ON: Starts measuring changes in counter PV or the counter frequency.
Note Measuring the high-speed counter frequency is possible
only for high-speed counter 1.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
03
Measurement Direction Bit (measurement mode 2)
OFF: Forward (up)
ON: Reverse (down)
This bit specifies the up/down direction of the pulse input for frequency measurement.
Note Always set this bit before turning ON the Measurement
Start Bit.
04
Range Comparison Results Clear Bit OFF: Does not clear the execution results (A612) or output bit
pattern (A613) from CTBL(882) execution for range comparison
for the counter.
ON: Clears the execution results (A612) or output bit pattern
(A613) from CTBL(882) execution for range comparison for the
counter.
05
Absolute Offset Preset Bit
OFF: Does not preset the offset.
OFF to ON: Stores the number of multi-turns read from the Servo
Driver and the number of initial incremental pulses as an offset in
the Absolute Offset value in the System Setup.
When establishing the machine origin, the position from the absolute encoder origin is set as the Absolute Offset in the System
Setup as the machine origin.
06
Absolute Present Value Preset Bit
OFF: Disables the absolute present value preset.
OFF to ON: Stores the Absolute PV in the counter 1 PV (A600
and A601).
Note Refer to 7-7-6 Absolute Present Value for details on the
absolute PV.
07
Absolute Number of Rotations Read
Bit
OFF: Disables reading the number of rotations data from the
Servo Driver.
OFF to ON: Outputs the SEN output to the Servo Driver and
receives the number of rotations data on the phase A input.
08
Latch Input 1 Enable Bit
OFF: Disables the external latch input 1 signal.
ON: Enables the external latch input 1 signal.
09
Latch Input 2 Enable Bit
OFF: Disables the external latch input 2 signal.
ON: Enables the external latch input 2 signal.
Start Bit
Same as command bits for high-speed counter 1.
00
01
02
03
356
Name
Start Bit
Highspeed
counter 1
comReset Bit
mand
bits
Highspeed
counter 2
command
bits
Reset Bit
Measurement Start Bit
Reserved
04
Range Comparison Results Clear Bit
05
Absolute Offset Preset Bit
06
Absolute Present Value Preset Bit
07
Absolute Number of Rotations Read
Bit
08
Latch Input 1 Enable Bit
09
Latch Input 2 Enable Bit
Appendix D
Auxiliary Area Allocations
Address
A612
A613
A614
A615
A620 to
A621
A622 to
A623
A624
A625
Bits
Name
Function
Range Comparison Execution
00 to 15 HighResults Flags
speed
counter 1
monitor
data
00 to 15
Output Bit Pattern
Contains the CTBL(882) execution results for range comparison.
Bits 00 to 15 correspond to ranges 1 to 16.
OFF: No match
ON: Match
Range Comparison Results
00 to 15 Highspeed
00 to 15 counter 2 Output Bit Pattern
monitor
data
Same as for high-speed counter 1 monitor data.
00 to 15 Pulse Output 1 PV
Note This item applies when the operation
mode is relative pulse output, absolute pulse
output in linear mode, absolute pulse output in
circular mode, or electronic cam mode.
Contains the pulse output PV as an 8-digit hexadecimal number.
Relative mode: 00000000 to FFFFFFFF hex
Absolute linear mode: 80000000 to 7FFFFFFF hex
Absolute circular mode: 00000000 to circular maximum count
Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit
patterns with matches will be stored here.
One-shot Pulse Output 1 ON Time
Note This item applies when the operation
mode is one-shot output mode.
Contains the time that the one-shot pulse output has been ON as
an 8-digit hexadecimal number.
0000 0000 to 0000 270F (unit: set by STIM(980))
Pulse Time Measurement 1
Note This item applies when the operation
mode is time measurement mode using a pulse
counter.
Contains the time measured by the pulse counter as an 8-digit
hexadecimal number.
0000 0000 to FFFF FFFF hex (unit: set by STIM(980))
00 to 15 Pulse Output 2 PV
One-shot Pulse Output 2 ON Time
Same as for Pulse Output 1 PV.
Same as for One-shot Pulse Output 1 ON time.
Pulse Time Measurement 2
Same as for Pulse Time Measurement 1.
Pulse
Output 1
Status
Pulse Output Completed Flag
OFF: Pulse output not completed (OFF during pulse output).
ON: Pulse output completed (ON when pulse distribution has
been completed).
01
Pulse Output Set Flag
OFF: Pulse output amount not set by PULS(886).
ON: Pulse output amount set by PULS(886).
02
Target Frequency Not Reached Flag
OFF: Target speed has been reached during pulse output for
PLS2(887).
ON: Decelerated before reaching the target speed during pulse
output for PLS2(887).
03
Target Comparison Flag
OFF: Comparison stopped.
ON: Comparison in progress.
04
Independent Pulse Output Flag
OFF: Pulses not being output or being output continuously.
ON: Pulses being output.
05
PLS2 Positioning Flag
OFF: Not positioning.
ON: Positioning in progress.
06
Accelerating/Decelerating Flag
OFF: No output or constant-speed output.
ON: Acceleration or deceleration in progress for ACC(888) or
PLS2(887).
07
Pulse Output Flag
OFF: Pulse output stopped.
ON: Pulse output in progress.
Pulse Output Completed Flag
Same as for Pulse Output 1 Status.
00
00
01
Pulse
Output 2
Status
Pulse Output Set Flag
02
Target Frequency Not Reached Flag
03
Target Comparison Flag
04
Independent Pulse Output Flag
05
PLS2 Positioning Flag
06
Accelerating/Decelerating Flag
07
Pulse Output Flag
357
Appendix D
Auxiliary Area Allocations
Address
A626
Bits
00
01
A627
00
01
A628
07
14
Name
Pulse
Output 1
Command
Bits
Pulse
Output 2
Command
Bits
PV Reset Bit
Function
OFF: Pulse output 1 PV not reset.
ON: Resets pulse output 1 PV.
Range Comparison Results Clear Bit OFF: Does not clear the execution results (A630) or output bit
pattern (A631) from CTBL(882) execution for range comparison
for the pulse output PV.
ON: Clears the execution results (A630) or output bit pattern
(A631) from CTBL(882) execution for range comparison for the
pulse output PV.
PV Reset Bit
Same as for Pulse Output 1 Command Bits.
Range Comparison Results Clear Bit
Speed Change Cycle Bit
Pulse
Output
Control
Bits
(Apply to
PLS2 Pulse Output Direction Priority
both
Mode Bit
pulse
outputs 1
and 2.)
OFF: Sets the speed change cycle to 2 ms during pulse output to
ACC(888) or PLS2(887).
ON: Sets the speed change cycle to 1 ms during pulse output to
ACC(888) or PLS2(887).
OFF: Sets Direction Priority Mode.
In Direction Priority Mode, pulses are output only when the pulse
output direction and the direction of the specified absolute position are the same.
ON: Sets Absolute Position Priority Mode.
In Absolute Position Priority Mode, pulses are always output in
the direction of the specified absolute position.
A630
00 to 15 Pulse
Output 1
Monitor
Data
Range Comparison Results
Contains the CTBL(882) execution results for range comparison.
Bits 00 to 15 correspond to ranges 1 to 16.
OFF: No match
ON: Match
A631
00 to 15
Output Bit Pattern
Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit
patterns with matches will be stored here.
A632
00 to 15 Pulse
Output 2
00 to 15 Monitor
Data
Range Comparison Results
Same as for Pulse Output 1 Monitor Data.
A633
358
Output Bit Pattern
Appendix D
Auxiliary Area Allocations
Detailed Explanations on the Auxiliary Area
Error Log Area: A100 to A199
A100
Error code
A101
Error contents
A102
0101
A103
0101
A104
0101
A195
A196
Error code
Error contents
A197
0101
A198
0101
A199
0101
Error
record
Error
record
The following data would be generated in an error record if
a memory error (error code 80F1) occurred with the error
located in the System Setup (04 hex).
80 F1
00 04
01 01
01 01
01 01
The following data would be generated in an error record if
an FALS error with FALS number 001 occurred
C1 01
00 00
01 01
01 01
01 01
Error Codes and Error Flags
Classification
System-defined
fatal errors
Error code
80F1
Memory error
A403
80C0
80CE
I/O bus error
No End Cover
-----
80CF
80E0
Sync bus error
I/O setting error
---
80F0
809F
Program error
Cycle time too long error
A405
---
System-defined
non-fatal errors
User-defined
fatal errors
009B
System Setup setting error
A409
C101 to C2FF
FALS instruction executed (See note 1.)
---
User-defined
non-fatal errors
4101 to 42FF
FAL instruction executed (See note 2.)
---
Note
Meaning
Error flags
(1) Codes C101 to C2FF will be stored for FALS numbers 001 to 511.
(2) Codes 4101 to 42FF will be stored for FAL numbers 001 to 511.
(3) Only the contents of A405 is stored as the error flag contents for program errors.
(4) 0000 hex will be stored as the error flag contents.
359
Auxiliary Area Allocations
Appendix D
FQM1 Memory Addresses
FQM1 memory addresses are set in Index Registers (IR0 or IR1) to indirectly address I/O memory. Normally,
FQM1 memory addresses are set into the Index Registers automatically when calling subroutines with
JSB(982).
Some instructions, such as FIND MAXIMUM (MAX(182)) and FIND MINIMUM (MIN(183)), output the results of
processing to an Index Register to indicate an FQM1 memory address.
There are also instructions for which Index Registers can be directly designated to use the FQM1 memory
addresses stored in them by other instructions. These instructions include DOUBLE MOVE (MOVL(498)),
some symbol comparison instructions (=L,<>L, <L, >L,<=L, and >=L), DOUBLE COMPARE (CMPL(060)),
DOUBLE INCREMENT BINARY (++L(591)), DOUBLE DECREMENT BINARY (– –L(593)), DOUBLE SIGNED
BINARY ADD WITHOUT CARRY (+L(401)), and DOUBLE SIGNED BINARY SUBTRACT WITHOUT CARRY
(–L(411)).
The FQM1 memory addresses all are continuous and the user must be aware of the order and boundaries of
the memory areas. As reference, the FQM1 memory addresses are provided in the next page.
Note Directly setting FQM1 memory addresses in the program should be avoided whenever possible. If FQM1
memory addresses are set in the program, the program will be less compatible with new Modules for
which changes have been made to the layout of the memory.
Memory Configuration
There are two classifications of the RAM memory (with capacitor backup) in the FQM1.
Parameter Areas: These areas contain Coordinator Module system setting data, such as the System Setup.
An illegal access error will occur if an attempt is made to access any of the parameter areas from an instruction
in the user program.
I/O Memory Areas: These are the areas that can be specified as operands in the instructions in user programs.
360
Appendix D
Auxiliary Area Allocations
Memory Map
Note Do not access the areas indicated Reserved for system.
Classification
FQM1 memory
addresses (hex)
User addresses
Area
Parameter areas
00000 to 0B0FF
---
System Setup Area
Profile Area
I/O memory areas
0B100 to 0B1FF
---
Reserved for system.
0B200 to 0B7FF
---
Reserved for system.
0B800 to 0B801
TK0000 to TK0031
Task Flag Area
0B802 to 0B83F
---
Reserved for system.
0B840 to 0B9FF
A000 to A447
Read-only Auxiliary Area
0BA00 to 0BACB
A448 to A649
Read/Write Auxiliary Area
0BACA to 0BBFF
---
Reserved for system.
0BC00 to 0BDFF
---
Reserved for system.
0BE00 to 0BE0F
T0000 to T0255
Timer Completion Flags
0BE10 to 0BEFF
---
Reserved for system.
0BF00 to 0BF0F
C0000 to C0255
Counter Completion Flags
0BF10 to 0BFFF
---
Reserved for system.
0C000 to 0C0FF
CIO 0000 to CIO 0255
CIO Area
0C100 to 0D7FF
---
Reserved for system.
0D800 to 0D9FF
---
Reserved for system.
0DA00 to 0DDFF
---
Reserved for system.
0DE00 to 0DEFF
W000 to W255
Work Area
0DF00 to 0DFFF
---
Reserved for system.
0E000 to 0E0FF
T0000 to T0250
Timer PVs
0E100 to 0EFFF
---
Reserved for system.
0F000 to 0F0FF
C0000 to C0255
Counter PVs
0F100 to 0FFFF
---
Reserved for system.
10000 to 17FFF
D00000 to D32767
DM Area
18000 to FFFFF
---
Reserved for system.
361
Appendix D
Auxiliary Area Allocations
FQM1 Instruction Execution Times and Number of Steps
The following table lists the execution times for all instructions that are available for the FQM1.
The total execution time of instructions within one whole user program is the process time for program execution when calculating the cycle time. (See note.)
Note User programs are allocated tasks that can be executed within cyclic tasks and interrupt tasks that satisfy interrupt conditions.
Execution times for most instructions differ depending on the conditions when the instruction is executed. The
execution time can also vary when the execution condition is OFF.
The following table also lists the length of each instruction in the Length (steps) column. The number of steps
required in the user program area for each of the instructions varies from 1 to 7 steps, depending upon the
instruction and the operands used with it. The number of steps in a program is not the same as the number of
instructions.
Note
(1) Program capacity for the FQM1 is measured in steps. Basically speaking, 1 step is equivalent to 1
word.
Most instructions are supported in differentiated form (indicated with ↑, ↓, @, and %). Specifying
differentiation will increase the execution times by the following amounts.
µs
Symbol
↑ or ↓
@ or %
+0.5
+0.5
(2) Use the following time as a guideline when instructions are not executed.
Approx. 0.2 to 0.5 µs
Sequence Input Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
LOAD
LD
---
1
0.10
Yes
---
LOAD NOT
LD NOT
---
1
0.10
Yes
---
AND
AND
---
1
0.10
Yes
---
AND NOT
AND NOT
---
1
0.10
Yes
---
OR
OR
---
1
0.10
Yes
---
OR NOT
OR NOT
---
1
0.10
Yes
---
AND LOAD
AND LD
---
1
0.05
Yes
---
OR LOAD
OR LD
---
1
0.05
Yes
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Sequence Output Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
OUTPUT
OUT
---
1
0.35
Yes
---
OUTPUT NOT
OUT NOT
---
1
0.35
Yes
---
KEEP
KEEP
011
1
0.40
Yes
---
DIFFERENTIATE UP
DIFU
013
2
0.50
Yes
---
DIFFERENTIATE
DOWN
DIFD
014
2
0.50
Yes
---
SET
SET
---
1
0.30
Yes
---
RESET
RSET
---
1
0.30
Yes
---
362
Appendix D
Auxiliary Area Allocations
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Sequence Control Instructions
Instruction
ON execution
time (µs)
Mnemonic
Code
Length
(steps)
(See
note.)
END
END
001
1
7.0
Yes
NO OPERATION
NOP
000
1
0.05
Yes
---
INTERLOCK
IL
002
1
0.15
Yes
---
INTERLOCK CLEAR
ILC
003
1
0.15
Yes
---
JUMP
JMP
004
2
0.95
Yes
---
JUMP END
JME
005
2
---
---
---
Hardware
implementation
Conditions
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Timer and Counter Instructions
Instruction
Mnemonic
Code
ON execution
time (µs)
Length
(steps)
(See
note.)
Hardware
implementation
Conditions
TIMER
TIM
---
3
1.30
Yes
---
COUNTER
CNT
---
3
1.30
Yes
---
HIGH-SPEED TIMER
TIMH
015
3
1.80
Yes
---
ONE-MS TIMER
TMHH
540
3
1.75
Yes
---
REVERSIBLE
COUNTER
CNTR
012
3
24.8
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Comparison Instructions
Instruction
Input Comparison
Instructions (unsigned)
Input Comparison
Instructions (double,
unsigned)
Input Comparison
Instructions (signed)
Mnemonic
Code
LD, AND, OR +=
300
LD, AND, OR + <>
305
LD, AND, OR + <
310
LD, AND, OR +<=
315
LD, AND, OR +>
320
LD, AND, OR +>=
325
LD, AND, OR +=+L
301
LD, AND, OR +<>+L
306
LD, AND, OR +<+L
311
LD, AND, OR +<=+L
316
LD, AND, OR +>+L
321
LD, AND, OR +>=+L
326
LD, AND, OR +=+S
302
LD, AND, OR +<>+S
307
LD, AND, OR +<+S
312
LD, AND, OR +<=+S
317
LD, AND, OR +>+S
322
LD, AND, OR +>=+S
327
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
4
0.35
Yes
---
4
0.35
Yes
---
4
0.35
Yes
---
363
Appendix D
Auxiliary Area Allocations
Instruction
Input Comparison
Instructions (double,
signed)
Mnemonic
Code
LD, AND, OR +=+SL
303
Length
(steps)
(See
note.)
4
ON execution
time (µs)
0.35
Hardware
implementation
Yes
Conditions
---
LD, AND, OR +<>+SL 308
LD, AND, OR +<+SL
313
LD, AND, OR +<=+SL 318
LD, AND, OR +>+SL
323
LD, AND, OR +>=+SL 328
COMPARE
CMP
020
3
0.10
Yes
---
DOUBLE COMPARE
CMPL
060
3
0.50
Yes
---
SIGNED BINARY
COMPARE
CPS
114
3
0.30
Yes
---
DOUBLE SIGNED
BINARY COMPARE
CPSL
115
3
0.50
Yes
---
TABLE COMPARE
TCMP
085
4
30.3
---
---
MULTIPLE COMPARE
MCMP
019
4
47.5
---
---
UNSIGNED BLOCK
COMPARE
BCMP
068
4
50.3
---
---
EXPANDED BLOCK
COMPARE
BCMP2
502
4
15.3
---
Number of data words: 1
689.1
---
Number of data words:
255
AREA RANGE COMPARE
ZCP
088
3
11.6
---
---
DOUBLE AREA
RANGE COMPARE
ZCPL
116
3
11.4
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Data Movement Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
MOVE
MOV
021
3
0.30
Yes
---
DOUBLE MOVE
MOVL
498
3
0.60
Yes
-----
MOVE NOT
MVN
022
3
0.35
Yes
DOUBLE MOVE NOT
MVNL
499
3
0.60
Yes
---
MOVE BIT
MOVB
082
4
0.50
Yes
---
MOVE DIGIT
MOVD
083
4
0.50
Yes
---
BLOCK TRANSFER
XFER
070
4
0.8
Yes
Transferring 1 word
650.2
Yes
Transferring 1,000 words
0.55
Yes
Setting 1 word
400.2
Yes
Setting 1,000 words
BLOCK SET
BSET
071
4
DATA EXCHANGE
XCHG
073
3
0.80
Yes
---
SINGLE WORD DISTRIBUTE
DIST
080
4
10.5
---
---
DATA COLLECT
COLL
081
4
10.5
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
364
Appendix D
Auxiliary Area Allocations
Data Shift Instructions
Instruction
SHIFT REGISTER
Mnemonic
Code
SFT
010
REVERSIBLE SHIFT
REGISTER
SFTR
ASYNCHRONOUS
SHIFT REGISTER
ASFT
WORD SHIFT
WSFT
084
017
016
Length
(steps)
(See
note.)
3
4
4
4
ON execution
time (µs)
Hardware
implementation
Conditions
12.4
---
Shifting 1 word
368.1
---
Shifting 1,000 words
14.0
---
Shifting 1 word
1.44 ms
---
Shifting 1,000 words
Shifting 1 word
13.9
---
3.915 ms
---
Shifting 1,000 words
9.7
---
Shifting 1 word
728.1
---
Shifting 1,000 words
Yes
---
ARITHMETIC SHIFT
LEFT
ASL
025
2
0.45
DOUBLE SHIFT LEFT
ASLL
570
2
0.80
Yes
---
ARITHMETIC SHIFT
RIGHT
ASR
026
2
0.45
Yes
---
DOUBLE SHIFT
RIGHT
ASRL
571
2
0.80
Yes
---
ROTATE LEFT
ROL
027
2
0.45
Yes
---
DOUBLE ROTATE
LEFT
ROLL
572
2
0.80
Yes
---
ROTATE LEFT WITHOUT CARRY
RLNC
574
2
0.45
Yes
---
DOUBLE ROTATE
LEFT WITHOUT
CARRY
RLNL
576
2
0.80
Yes
---
ROTATE RIGHT
ROR
028
2
0.45
Yes
---
DOUBLE ROTATE
RIGHT
RORL
573
2
0.80
Yes
---
ROTATE RIGHT WITH- RRNC
OUT CARRY
575
2
0.45
Yes
---
DOUBLE ROTATE
RIGHT WITHOUT
CARRY
RRNL
577
2
0.80
Yes
---
ONE DIGIT SHIFT
LEFT
SLD
074
3
Shifting 1 word
ONE DIGIT SHIFT
RIGHT
SRD
075
3
10.1
---
1.208 ms
---
Shifting 1,000 words
11.7
---
Shifting 1 word
1.775 ms
---
Shifting 1,000 words
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Increment/Decrement Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
INCREMENT BINARY
++
590
2
0.45
Yes
---
DOUBLE INCREMENT BINARY
++L
591
2
0.80
Yes
---
DECREMENT BINARY – –
592
2
0.45
Yes
---
DOUBLE DECREMENT BINARY
593
2
0.80
Yes
---
– –L
INCREMENT BCD
++B
594
2
12.1
---
---
DOUBLE INCREMENT BCD
++BL
595
2
9.37
---
---
DECREMENT BCD
– –B
596
2
11.5
---
---
DOUBLE DECREMENT BCD
– –BL
597
2
9.3
---
---
365
Appendix D
Auxiliary Area Allocations
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Symbol Math Instructions
Instruction
Code
SIGNED BINARY ADD
WITHOUT CARRY
+
400
4
0.30
Yes
---
DOUBLE SIGNED
BINARY ADD WITHOUT CARRY
+L
401
4
0.60
Yes
---
SIGNED BINARY ADD
WITH CARRY
+C
402
4
0.40
Yes
---
DOUBLE SIGNED
BINARY ADD WITH
CARRY
+CL
403
4
0.60
Yes
---
BCD ADD WITHOUT
CARRY
+B
404
4
16.3
---
---
DOUBLE BCD ADD
WITHOUT CARRY
+BL
405
4
22.9
---
---
BCD ADD WITH
CARRY
+BC
406
4
17.2
---
---
DOUBLE BCD ADD
WITH CARRY
+BCL
407
4
24.1
---
---
SIGNED BINARY SUB- –
TRACT WITHOUT
CARRY
410
4
0.3
Yes
---
DOUBLE SIGNED
BINARY SUBTRACT
WITHOUT CARRY
–L
411
4
0.60
Yes
---
SIGNED BINARY SUB- –C
TRACT WITH CARRY
412
4
0.40
Yes
---
DOUBLE SIGNED
BINARY SUBTRACT
WITH CARRY
–CL
413
4
0.60
Yes
---
BCD SUBTRACT
WITHOUT CARRY
–B
414
4
16.3
---
---
DOUBLE BCD SUBTRACT WITHOUT
CARRY
–BL
415
4
23.1
---
---
BCD SUBTRACT
WITH CARRY
–BC
416
4
18.1
---
---
DOUBLE BCD SUBTRACT WITH CARRY
–BCL
417
4
24.2
---
---
SIGNED BINARY MUL- *
TIPLY
420
4
0.65
Yes
---
DOUBLE SIGNED
BINARY MULTIPLY
*L
421
4
12.8
---
---
UNSIGNED BINARY
MULTIPLY
*U
422
4
0.75
Yes
---
DOUBLE UNSIGNED
BINARY MULTIPLY
*UL
423
4
12.4
---
---
BCD MULTIPLY
*B
424
4
16.9
---
---
DOUBLE BCD MULTIPLY
*BL
425
4
34.7
---
---
SIGNED BINARY
DIVIDE
/
430
4
0.70
Yes
---
DOUBLE SIGNED
BINARY DIVIDE
/L
431
4
11.9
---
---
UNSIGNED BINARY
DIVIDE
/U
432
4
0.8
Yes
---
DOUBLE UNSIGNED
BINARY DIVIDE
/UL
433
4
11.9
---
---
366
Length
(steps)
(See
note.)
ON execution
time (µs)
Mnemonic
Hardware
implementation
Conditions
Appendix D
Auxiliary Area Allocations
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
BCD DIVIDE
/B
434
4
18.3
---
---
DOUBLE BCD DIVIDE
/BL
435
4
26.7
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Conversion Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
BCD-TO-BINARY
BIN
023
3
0.40
Yes
---
DOUBLE BCD-TODOUBLE BINARY
BINL
058
3
7.4
---
---
BINARY-TO-BCD
BCD
024
3
8.0
---
---
DOUBLE BINARY-TODOUBLE BCD
BCDL
059
3
8.0
---
---
2’S COMPLEMENT
NEG
160
3
0.35
Yes
---
DOUBLE 2’S COMPLEMENT
NEGL
161
3
0.60
Yes
---
ASCII CONVERT
ASC
086
4
ASCII TO HEX
HEX
162
4
11.8
---
Converting 1 digit into ASCII
18.1
---
Converting 4 digits into ASCII
12.2
---
Converting 1 digit
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Logic Instructions
Instruction
Length
(steps)
(See
note.)
ON execution
time (µs)
Mnemonic
Code
LOGICAL AND
ANDW
034
4
0.30
Yes
---
DOUBLE LOGICAL
AND
ANDL
610
4
0.60
Yes
---
LOGICAL OR
ORW
---
Hardware
implementation
Conditions
035
4
0.45
Yes
DOUBLE LOGICAL OR ORWL
611
4
0.60
Yes
---
EXCLUSIVE OR
XORW
036
4
0.45
Yes
---
DOUBLE EXCLUSIVE
OR
XORL
612
4
0.60
Yes
---
EXCLUSIVE NOR
XNRW
037
4
0.45
Yes
---
DOUBLE EXCLUSIVE
NOR
XNRL
613
4
0.60
Yes
---
COMPLEMENT
COM
029
2
0.45
Yes
---
DOUBLE COMPLEMENT
COML
614
2
0.80
Yes
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
367
Appendix D
Auxiliary Area Allocations
Special Math Instructions
Instruction
ARITHMETIC PROCESS
Mnemonic
Code
APR
069
ON execution
time (µs)
Length
(steps)
(See
note.)
4
BIT COUNTER
BCNT
067
4
VIRTUAL AXIS
AXIS
981
4
Hardware
implementation
Conditions
24.3
---
Linear approximation specification, normal
12.1
---
Linear approximation table transfer, 1 word
126.1
---
Linear approximation table transfer, 128 words
241.3
---
Linear approximation table transfer, 256 words
21.5
---
Linear approximation buffer specification, 256 words, beginning
186.9
---
Linear approximation buffer specification, 256 words, end
104.5
---
Linear approximation buffer specification, 128 words, end
0.65
Yes
Counting 1 word
47.9
---
Relative mode
48.1
---
Absolute mode
8.3
---
Stopping processing
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Floating-point Math Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
FLOATING TO 32-BIT
FIXL
451
3
7.4
---
---
32-BIT TO FLOATING
FLTL
453
3
7.0
---
---
FLOATING-POINT
ADD
+F
454
4
11.4
---
---
FLOATING-POINT
SUBTRACT
–F
455
4
11.0
---
---
FLOATING-POINT
DIVIDE
/F
457
4
11.1
---
---
FLOATING-POINT
MULTIPLY
*F
456
4
11.0
---
---
DEGREES TO RADIANS
RAD
458
3
9.7
---
---
RADIANS TO
DEGREES
DEG
459
3
9.4
---
---
SINE
SIN
460
3
15.8
---
---
COSINE
COS
461
3
15.5
---
---
TANGENT
TAN
462
3
17.5
---
---
ARC SINE
ASIN
463
3
42.7
---
---
ARC COSINE
ACOS
464
3
42.5
---
---
ARC TANGENT
ATAN
465
3
21.3
---
---
SQUARE ROOT
SQRT
466
3
25.5
---
---
EXPONENT
EXP
467
3
18.1
---
---
LOGARITHM
LOG
468
3
16.1
---
---
EXPONENTIAL
POWER
PWR
840
4
31.5
---
---
368
Appendix D
Auxiliary Area Allocations
Instruction
Floating Symbol Comparison
Mnemonic
Code
LD, AND, OR +=F
329
LD, AND, OR +<>F
330
LD, AND, OR +<F
331
LD, AND, OR +<=F
332
LD, AND, OR +>F
333
LD, AND, OR +>=F
334
Length
(steps)
(See
note.)
3
ON execution
time (µs)
8.9
Hardware
implementation
---
Conditions
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Table Data Processing Instructions
Instruction
FIND MAXIMUM
FIND MINIMUM
Mnemonic
Code
MAX
182
MIN
183
Length
(steps)
(See
note.)
4
4
ON execution
time (µs)
Hardware
implementation
Conditions
13.0
---
1.41 ms
---
Searching for 1 word
Searching for 1,000 words
12.8
---
Searching for 1 word
1.412 ms
---
Searching for 1,000 words
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Data Control Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SCALING
SCL
194
4
22.7
---
---
SCALING 2
SCL2
486
4
21.8
---
---
SCALING 3
SCL3
487
4
26.1
---
---
AVERAGE
AVG
195
4
27.9
---
Average of an operation
27.9
---
Average of 64 operations
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Subroutine Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SUBROUTINE CALL
SBS
091
2
25.5
Yes
SUBROUTINE ENTRY
SBN
092
2
---
---
-----
SUBROUTINE
RETURN
RET
093
1
21.9
Yes
---
MACRO
MCRO
099
4
47.4
---
---
JUMP TO SUBROUTINE
JSB
982
4
34.9
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
369
Appendix D
Auxiliary Area Allocations
Interrupt Control Instructions
Instruction
Length
(steps)
(See
note.)
ON execution
time (µs)
Mnemonic
Code
SET INTERRUPT
MASK
MSKS
690
3
7.6
---
---
READ INTERRUPT
MASK
MSKR
692
3
5.2
---
---
CLEAR INTERRUPT
CLI
691
3
7.2
---
---
DISABLE INTERRUPTS
DI
693
1
5.3
---
---
ENABLE INTERRUPTS
EI
694
1
5.6
---
---
INTERVAL TIMER
STIM
980
4
9.5
---
One-shot timer
11.0
---
One-shot pulse output
9.5
---
Scheduled interrupt
10.8
---
Reading timer PV
7.4
---
Stopping timer
17.8
---
Starting pulse counting
14.7
---
Stopping pulse counting
Hardware
implementation
Conditions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
High-speed Counter and Pulse Output Instructions
Instruction
MODE CONTROL
HIGH-SPEED
COUNTER PV READ
370
Mnemonic
Code
INI
880
PRV
881
Length
(steps)
(See
note.)
4
4
ON execution
time (µs)
Hardware
implementation
Conditions
16.7
---
Starting high-speed counter comparison
12.7
---
Stopping high-speed counter comparison
13.3
---
Changing pulse output PV
10.9
---
Changing high-speed counter circular value
16.7
---
Starting pulse output comparison
12.6
---
Stopping pulse output comparison
14.9
---
Changing pulse output PV
13.1
---
Changing pulse output circular
value
12.5
---
Stopping pulse output
10.1
---
Stopping sampling counter comparison
14.5
---
Changing sampling counter PV
13.9
---
Changing sampling counter circular value
13.5
---
Reading pulse output PV
15.1
---
Reading high-speed counter PV
50.8
---
Reading analog input PV
14.3
---
Reading high-speed counter travel
distance
12.1
---
Reading high-speed counter
latched value
Appendix D
Auxiliary Area Allocations
Instruction
COMPARISON TABLE
LOAD
SPEED OUTPUT
SET PULSES
PULSE OUTPUT
Mnemonic
Code
CTBL
882
SPED
PULS
PLS2
ACCELERATION CON- ACC
TROL
885
886
ON execution
time (µs)
Length
(steps)
(See
note.)
4
4
4
Hardware
implementation
Conditions
36.5
---
Registering target value table and
starting comparison for 1 target
value
259.6
---
Registering target value table and
starting comparison for 48 target
values
22.1
---
Executing range comparison for 1
range
113.7
---
Executing range comparison for 16
ranges
22.1
---
Only registering target value table
for 1 target value
240.1
---
Only registering target value table
for 48 target values
20.9
---
Registering a sampling counter
target value table and starting
comparison
42.8
---
Analog output
23.7
---
Continuous mode
32.7
---
Independent mode
42.9
---
Analog output
15.9
---
Setting pulse output in relative
mode
16.1
---
Setting pulse output in absolute
mode
31.5
---
Absolute output mode (electronic
cam)
---
887
4
53.5
---
888
4
42.5
---
Continuous mode
44.1
---
Independent mode
18.7
---
Analog output
Step Instructions
Instruction
Length
(steps)
(See
note.)
Hardware
implementation
ON execution
time (µs)
Conditions
Mnemonic
Code
STEP DEFINE
STEP
008
2
24.3
13.0
---
Step control bit OFF
STEP START
SNXT
009
2
9.1
---
---
---
Step control bit ON
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
I/O Refresh Instruction
Instruction
I/O REFRESH
Mnemonic
Code
IORF
097
Length
(steps)
(See
note.)
3
ON execution
time (µs)
Hardware
implementation
Conditions
7.7
---
Refreshing 1 input word
7.6
---
Refreshing 1 output word
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
371
Appendix D
Auxiliary Area Allocations
Serial Communications Instructions
Instruction
TRANSMIT
RECEIVE
CHANGE SERIAL
PORT SETUP
Mnemonic
Code
TXD
236
RXD
STUP
235
237
Length
(steps)
(See
note.)
4
4
3
ON execution
time (µs)
Hardware
implementation
Conditions
24.1
---
Sending 1 byte
342.6
---
Sending 256 bytes
36.2
---
Storing 1 byte
348.9
---
Storing 256 bytes
441.1
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Debugging Instructions
Instruction
TRACE MEMORY
SAMPLING
Mnemonic
Code
TRSM
045
Length
(steps)
(See
note.)
1
ON execution
time (µs)
Hardware
implementation
Conditions
34.6
---
Sampling 1 bit and 0 words
148.3
---
Sampling 31 bits and 6 words
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Failure Diagnosis Instructions
Instruction
FAILURE ALARM
SEVERE FAILURE
ALARM
Mnemonic
Code
FAL
006
FALS
007
Length
(steps)
(See
note.)
3
3
ON execution
time (µs)
Hardware
implementation
Conditions
157.1
---
56.0
---
Recording errors
Deleting errors (in order of priority)
457.0
---
Deleting errors (all errors)
53.6
---
Deleting errors (individually)
---
---
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Other Instructions
Instruction
Mnemonic
Code
Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SET CARRY
STC
040
1
0.15
Yes
---
CLEAR CARRY
CLC
041
1
0.15
Yes
---
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Block Programming Instructions
Instruction
Code
BLOCK PROGRAM
BEGIN
BPRG
096
2
20.3
---
---
BLOCK PROGRAM
END
BEND
801
1
17.2
---
---
372
Length
(steps)
(See
note.)
ON execution
time (µs)
Mnemonic
Conditions
Appendix D
Auxiliary Area Allocations
Instruction
Branching
Branching
Branching (NOT)
Mnemonic
Code
IF (input
condition)
802
IF (relay
number)
802
Length
(steps)
(See
note.)
1
ON execution
time (µs)
6.8
Conditions
Yes
12.2
2
11.0
Yes
16.5
IF NOT
802
(relay number)
2
Branching
ELSE
803
1
Branching
IEND
804
1
11.5
Yes
7.0
IF true
IF false
Yes
13.4
13.5
IF true
IF false
16.8
11.4
IF true
IF false
IF true
IF false
Yes
IF true
IF false
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
373
Auxiliary Area Allocations
374
Appendix D
Index
A
A/D conversion value, 222
absolute encoder
absolute circular counter, 202
absolute linear counter, 202
absolute offset preset, 203
absolute present value, 202
absolute PV preset, 203
output data
acquisition, 207
format, 200
Absolute No. of Rotations Read Completed Flag, 340, 341,
355
Absolute No. of Rotations Read Error Flag, 340, 341, 355
Absolute Offset Preset Error Flag, 340, 341, 355
absolute position priority mode, 183
absolute positioning (electronic cam control), 191
ACC(888) instruction, 182, 190
and analog outputs, 229
pulse outputs, 170
setting speed-change cycle, 183
Accelerating/Decelerating Flag, 357
acceleration
trapezoidal, 193
acceleration rate, 182
Access Error Flag, 308
addresses
memory map, 360
addressing
BCD mode, 307
binary mode, 307
indirect addresses, 273
memory addresses, 271
operands, 272
alarms
user-programmed alarms, 121
Always OFF Flag, 308
Always ON Flag, 308
analog I/O
high-speed control, 26
analog inputs, 215
Auxiliary Area, 219
connections, 74
specifications, 217
System Setup, 218
Analog Offset/Gain Error Flag, 345, 350
Analog Output 1 Flags, 337, 353
Analog Output 2 Flags, 337, 353
analog outputs
applicable instructions, 228
application examples, 230
Auxiliary Area, 219
connections, 74
details, 225
END refreshing, 226
functions, 227
immediate refreshing, 226
instructions, 228
number of, 226
procedure, 229
refresh methods, 226
signal ranges, 226
specifications, 226
System Setup, 218
used with ACC(888), 229
values, 226
ASync Mode, 96, 104
automatic backup
using flash memory, 119
Auxiliary Area
allocations
for built-in inputs, 343
for Coordinator Modules and Motion Control Modules,
344
in address order, 349
Motion Control Modules, 329
related to DM data transfer, 346
related to instructions, 347
analog I/O, 219
Constant Cycle Time Exceeded Error Clear Bit, 115
Cycle Time PV, 116
detailed explanations, 359
DM Read Request Bit, 113
DM Transfer Size, 113
DM Write Request Bit, 113
First DM Transfer Destination Word, 113
First DM Transfer Source Word, 113
Maximum Cycle Time, 116
overview, 304
Slot No. of Motion Control Module for DM Transfer, 113
AXIS instruction, 213
application example, 215
B
baud rate, 313, 318
detection, 35
375
Index
RS-232C port, 66, 134
serial data, 200
BCD data, 276
pin arrangement
Coordinator Modules, 67
Motion Control Modules, 68
BCD-mode addressing, 307
Connector-Terminal Block Conversion Units, 75
binary-mode addressing, 307
constant cycle time, 19, 114
Sync Mode, 115
block programs, 270, 286, 287
instruction execution times, 372
Constant Cycle Time Exceeded Error Clear Bit, 115, 117
Constant Cycle Time Exceeded Flag, 115, 346, 350
C
cables, 235
Carry (CY) Flag, 270, 285, 308
CIO Area, 302
Cyclic Refresh Bit Area, 302
I/O Bit Area, 302
Serial PLC Link Bit Area, 303
Synchronous Data Link Bit Area, 303
Work Areas, 303
Circular Counter, 154, 202
circular mode, 182
CLC(041) instruction, 308
Clock Pulses, 309
communications
instruction execution times, 372
no-protocol, 10, 13
protocol support, 9
protocols, 9
See also serial communications
comparison instructions
execution times, 363, 364
Completion Flags
reset timing, 306
Condition Flags, 281, 307
list, 308
connecting cables
list, 83
connections
analog inputs, 74
analog outputs, 74
Host Link, 64
MIL connectors, 74
peripheral bus (Toolbus), 65
personal computers, 64
pulse inputs, 71
pulse outputs, 73
Servo Drivers, 70
wire size, 75
connectors, 65
connections, 74
376
constants
operands, 274
control panels
installation, 53
cooling
fan, 50
Coordinator Module Fatal Error Flag, 250, 345, 349
Coordinator Module WDT Error Flag, 250, 345, 349
Coordinator Modules, 92
built-in I/O allocations, 348
connector pin arrangement, 67
connectors, 65
constant cycle time, 115
current consumption, 45
Cyclic Refresh Area, 107
data exchange with Motion Control Modules, 105
dimensions, 43
flash memory, 93
I/O memory, 92, 300
I/O response time, 293
indicators, 34
models, 32
nomenclature, 34
operation, 93
overview, 5, 7
System Setup, 93, 111, 311
troubleshooting, 256
user program, 92
Count Latched Flag, 340, 341, 355
Counter Area, 306
Counter Completion Flags, 361
counter mode, 143, 204
procedure, 144
counters
execution times, 363
operations, 154, 201
reset method, 204
CPU errors, 246
CPU standby, 246
crimp terminals, 61
CTBL(882) instruction, 152, 223
Index
current consumption, 45
between Modules, 105
CX-Programmer, 92, 95
Analog Input/Output Tab Page, 325
connecting cables, 234, 238
connections, 235
methods, 237
Cycle Time Settings, 312
Cycle Time Tab Page, 321
models, 32
Module Settings Tab Page, 321
Other Tab Page, 321
overview, 8, 234
Peripheral Port Settings, 313
Peripheral Port Settings for Host Link, 313
Peripheral Port Settings for NT Link, 314
Peripheral Port Settings for Peripheral Bus (ToolBus),
314
Peripheral Service Time Settings, 320
Pulse Input Tab Page, 322, 324
Pulse Output Tab Page, 323
RS-232 Port Settings for No-protocol Communications
(RS-232C), 317
RS-232C Port Settings for Host Link, 315
RS-232C Port Settings for NT Link, 316
RS-232C Port Settings for Peripheral Bus (ToolBus), 316
RS-232C Port Settings for PLC Link (PC Link (Slave)),
318
RS-422A Port Settings for No-protocol Communications
(Non-procedural), 319
RS-422A Port Settings for Serial Gateway, 319
Startup Mode Setting, 312
Sync Settings between Modules, 311
data formats, 276
cycle time, 19
computing, 288
errors, 249
maximum cycle time, 344, 349
present cycle time, 344, 349
settings, 326
DM Transfer Size, 113
Data Memory (DM) Area, 307
data movement instructions
execution times, 364
data shift instructions
execution times, 365
debugging, 14, 120
debugging instructions
execution times, 372
deceleration
rate, 182
trapezoidal, 193
decrement instructions
execution times, 365
decrement pulse inputs, 153
DI(802) instruction
disabling all interrupts, 141
diagnosis, 120
Differentiate Monitor Completed Flag, 351
Differentiation Flags, 270
Differentiation Overflow Error Flag, 344, 350
dimensions, 43
Servo Relay Units, 79
DIN Track, 57, 59
DM data transfer, 105, 112
executing, 113
programming example, 114
DM Read Request Bit, 113
DM Write Request Bit, 113
downwardly differentiated instructions, 280
ducts
wiring, 53
Cycle Time PV, 116
Cycle Time Too Long Flag, 116, 249, 346, 349
E
Cyclic Refresh Bit Area, 106, 107, 302
allocations, 108
EC Directives, xix
cyclic refreshing, 94, 105, 106
EI(694) instruction
enabling all interrupts, 141
D
data areas
addressing, 271
data control instructions
execution times, 369
data exchange
electrical noise, 85
electronic cam control, 186
End Modules
current consumption, 45
dimensions, 43
models, 32
overview, 6
377
Index
Equals Flag, 285, 308
FAL Error Flag, 121, 249, 345, 349
error codes, 359
FAL errors, 249
Error Flag, 308
FAL(006) instruction, 121
error flags, 359
FALS Error Flag, 122, 249, 345, 349
error log, 120, 242
FALS errors, 249
Error Log Area, 242, 344, 349
FALS(007) instruction, 122
Error Log Pointer, 350
fatal errors, 246
(FALS(007)), 121
error processing flowchart, 245
errors
communications error, 250
Coordinator Module Fatal error, 250
Coordinator Module WDT error, 250
CPU error, 246
CPU standby, 246
cycle time overrun error, 249
error codes, 345, 349, 359
error log, 120, 242
fatal, 246
flags, 308
I/O Bus error, 248
I/O table setting error, 249
memory error, 248
Motion Control Module Monitor error, 249
non-fatal, 249
program error, 248
system FAL error, 249
system FALS error, 249
System Setup error, 249
troubleshooting, 243
Coordinator Module errors, 256
cycle time overrun error check, 253
environmental conditions check, 256
I/O check, 255
I/O setting error check, 254
input errors, 257
memory error check, 252
Motion Control Module errors, 257
output errors, 258
power supply check, 251
program error check, 252
System Setup error check, 253
user-programmed errors, 121, 242
execution conditions
variations, 279
F
failure alarms, 121
failure diagnosis instructions
execution times, 372
378
FINS commands list, 128
First Cycle Flag, 347, 349
First DM Transfer Destination Word, 113
First DM Transfer Source Word, 113
flags, 270
Absolute No. of Rotations Read Completed Flag, 355
Absolute No. of Rotations Read Error Flag, 355
Absolute Offset Preset Error Flag, 355
Access Error Flag, 308
Always OFF Flag, 308
Always ON Flag, 308
Analog Offset/Gain Error Flag, 345, 350
Analog Output 1 Flags, 337, 353
Analog Output 2 Flags, 337, 353
Carry Flag, 308
Clock Pulses, 309
Condition Flags, 281, 307
Constant Cycle Time Exceeded Flag, 115, 346, 350
Coordinator Module Fatal Error Flag, 250, 345, 349
Coordinator Module WDT Error Flag, 250, 345, 349
Count Latched Flag, 355
Cycle Time Too Long Flag, 346, 349
Differentiate Monitor Completed Flag, 351
Differentiation Overflow Error Flag, 344, 350
Equals Flag, 308
Error Flag, 308
FAL Error Flag, 121, 249, 345, 349
FALS Error Flag, 121, 249, 345, 349
First Cycle Flag, 347, 349
Flash Memory DM Checksum Error Flag, 345, 350
Flash Memory Error Flag, 120, 345, 350
Greater Than Flag, 308
Greater Than or Equals Flag, 308
High-speed Counter 1 Status, 355
High-speed Counter 2 Status, 355
High-speed Counter Operating Flag, 355
I/O Bus Error Flag, 248, 349
I/O Setting Error Flag, 249, 345, 349
Illegal Instruction Error Flag, 344, 350
Less Than Flag, 308
Less Than or Equals Flag, 308
Measuring Flag, 355
Index
Memory Error Flag, 248, 345, 349
Memory Not Held Flag, 345, 350
Motion Control Module Monitor Error Flag, 249
Motion Control Module Monitoring Error Flag, 345, 349
Negative Flag, 308
No END Error Flag, 344, 350
Not Equal Flag, 308
Overflow Flag, 308
Peripheral Port Error Flags, 350
Peripheral Port Settings Changing Flag, 346
Phase Z Input Reset Flag, 355
Program Error Flag, 248, 344, 349
Pulse Output 1 Status, 357
Pulse Output 2 Status, 357
Pulse Output Status, 334
PV Overflow/Underflow Flag, 355
Range Comparison Execution Results Flags, 343
RS-232C Port Error Flags, 350
RS-232C port related, 347, 350
RS-422A port related, 347, 351
Step Flag, 347, 349
Subroutine Input Condition Flags, 265, 344, 349
Sync Cycle Time Too Long Flag, 346, 350
System Flags, 344
System Setup Error Flag, 249, 345, 349, 350
System Setup Error Location, 345
Target Comparison In-progress Flag, 355
Task Error Flag, 344, 350
Trace Busy Flag, 351
Trace Completed Flag, 351
Trace Trigger Monitor Flag, 351
Transfer Busy Flag, 113, 352
Transfer Error Flag, 113, 346, 352
UM Error Flag, 345, 350
UM Overflow Error Flag, 344, 350
Underflow Flag, 308
flash memory, 47
automatic backup, 119
Coordinator Modules, 93
Flash Memory DM Checksum Error Flag, 345, 350
Flash Memory Error Flag, 120, 345, 350
functions
list, 139
G
Greater Than Flag, 285, 308
Greater Than or Equals Flag, 308
grounding, 61
H
high-speed analog sampling, 223
high-speed counter instructions
execution times, 370
High-speed Counter Operating Flag, 340, 341, 355
High-speed Counter Reset Bit, 155
high-speed counters, 153
bit pattern output, 164
interrupts, 140, 155
latching PV, 159, 166
monitoring frequency, 158
monitoring movement, 157
procedure, 160
mode 1, 161
mode 2, 162
PV, 205
range comparison, 164
target-value comparison, 162
Host Link (SYSMAC WAY), 9, 124
commands, 127
Host Link System, 10
Host Link(SYSMAC WAY)
communications functions, 126
I
I/O Bit Area, 302
I/O Bus Error Flag, 248, 349
FQM1 Patch Software, 32, 92, 234
I/O memory, 96
addresses, 360
addressing, 271
areas, 361
Coordinator Modules, 300
Motion Control Modules, 301
overview, 299
structure, 300, 301
Motion Control Modules, 301
Framing Error Flag, 350, 351
I/O refreshing, 94, 303
floating-point decimal, 276
floating-point math instructions
execution times, 368
flowchart
PLC cycle, 288
FQM1 Flexible Motion Controller Set
models, 32
379
END refresh, 303
immediate refresh, 304
Motion Control Modules, 98
using IORF(097) instruction, 304
I/O response time, 293
calculating, 293
Coordinator Modules, 293
Motion Control Modules, 294
I/O Setting Error Flag, 249, 345, 349
I/O Table Setting error, 249
Illegal Instruction Error Flag, 344, 350
increment instructions
execution times, 365
increment pulse inputs, 153
Independent Pulse Output Flag, 357
indicators
error indications, 243
Motion Control Indicators, 38
inductive loads
surge suppressor, 86
INI(880) instruction, 152
pulse outputs, 170
initialization, 94, 98
input devices
wiring, 87
input instructions
execution times, 362
input interrupts, 140, 142, 343
application example, 145
modes, 142
procedure, 143
procedure, 143
specifications, 142
input pulses
frequency, 204
measuring, 25
inputs
pulse frequency, 204
inspections
procedures, 260
required tools, 261
installation, 13, 15
control panels, 53
DIN Track, 57
environment, 50
ambient conditions, 50
cooling, 50
precautions, 50
instructions
basic information, 269
block programs, 287
execution conditions, 279
execution times, 362
input and output instructions, 269, 271
input conditions, 279
input-differentiated, 279
instruction conditions, 269
loops, 270
non-differentiated, 279
operands, 270
programming locations, 271
variations, 279
interlocks, 270, 286
interrupt control instructions
execution times, 370
interrupt modes, 142
interrupt response time, 295
calculation example, 297
interrupts
clearing, 142
disabling, 141
enabling, 141
high-speed counter, 140
input, 140, 142
interval timer, 140, 146
priority, 140
processing time
Motion Control Modules, 296
pulse output, 140
interval timer interrupts, 140, 146
application example, 147
one-shot mode, 146
scheduled interrupt mode, 146
using, 146
isolation transformer, 60
J
JSB(982) instruction, 265
L
latch inputs
applicable instructions, 152
specifications, 152
leakage current
output, 90
Less Than Flag, 285, 308
Index
Less Than or Equals Flag, 308
Linear Counter, 154
linear counter
CCW rotation, 201
CW rotation, 201
Linear Counter Mode, 205
linear mode, 180
logic instructions
execution times, 367
M
Maximum Cycle Time, 116
MCRO(099) instruction, 265
Measuring Flag, 340, 341, 355
Memory Backup Status Window, 119
Memory Error Flag, 248, 345, 349
memory map, 361
Memory Not Held Flag, 345, 350
momentary power interruption, 100
MONITOR mode, 99
monitoring, 14
Motion Control Module Monitoring Error Flag, 249, 345,
349
Motion Control Modules, 95
built-in I/O refreshing, 98
connections, 70
connectors
pin arrangement, 68
constant cycle time, 115
current consumption, 46
Cyclic Refresh Area, 107
data exchange with Coordinator Modules, 105
dimensions, 43
I/O memory, 301
I/O memory structure, 301
I/O response time, 294
indicators, 38
interrupt processing time, 296
interrupt response time, 295
models, 32
overview, 5, 7
specifications, 37
System Setup, 112
troubleshooting, 257
N
Negative Flag, 285, 308
No END Error Flag, 344, 350
noise reduction
electrical noise, 85
external wiring, 86
non-fatal errors, 121, 249
no-protocol communications, 9, 10, 13, 124, 129
end code, 130
RS-232C port, 129
RS-422A port, 136
start code, 130
Not Equal Flag, 308
NT Links, 9, 10, 124
1-to-N mode, 131
O
one-shot pulse outputs, 167, 176, 188
example, 194
specifications, 169, 177
operands
constants, 274
description, 270
specifying, 272
text strings, 275
operating modes, 99
effects of mode changes on counters, 306
effects of mode changes on timers, 306
operation
checking, 16
checking operation, 14
preparations, 13
testing, 14, 17
output instructions
execution times, 362
Overflow Flag, 308
Overrun Error Flag, 350, 351
P
Parameter Area, 310, 361
overview, 299
Parity Error Flag, 350, 351
password protection, 119
Peripheral Bus (Toolbus), 9, 125
connections, 65
381
Index
Peripheral Devices, 6
peripheral port
connecting a personal computer, 235
Peripheral Port Communications Error Flag, 346, 350
overview, 5
specifications, 33
wiring, 60
Phase Z Input Reset Flag, 340, 341, 355
precautions
general, xiv
output surge current, 90
output wiring, 89
periodic inspections, 260
programming, 281
replacing Modules, 261
safety, xiv
two-wire DC sensors, 88
using pulse outputs, 175
wiring, 85
phase-Z signal, 155
printing, 18
PLC Setup, 14, 16
errors, 249
Program Error Flag, 248, 344, 349
PLCs
cooling, 50
Programmable Terminals, 10
connection example, 66
PLS2 Positioning Flag, 357
programming, 14, 16
basic information, 269
block programs, 270, 286
restrictions, 287
error flag, 349
error flags, 344
errors, 248
instruction locations, 271
power flow, 269
precautions, 281
printing the program, 18
running the program, 18
saving the program, 18
step programming, 286
restrictions, 287
subroutines, 264
tasks, 263
transferring the program, 14, 17
Peripheral Port Error Flags, 346, 350
Peripheral Port Settings Changing Flag, 346, 350
peripheral servicing, 94, 98
settings, 327
personal computers
connecting, 235
connectors, 65
phase differential inputs, 153
PLS2(887) instruction, 182, 196
absolute position priority mode, 183
pulse output direction priority mode, 183
pulse outputs, 170
setting speed change cycle, 183
trapezoidal pulse output with acceleration/deceleration,
187
Polled Units
settings, 133
Polling Unit
setting, 133
position control
operations, 21
power flow
description, 269
Power Holding Time, 101
power interruptions
CPU operation for power interruptions, 100, 288
holding time, 101
instruction execution, 102
momentary interruptions, 100
Power OFF Detection Time, 101
power OFF operation, 100
power OFF processing, 100
power OFF timing chart, 101
power supply
CPU processing for power interruptions, 100
Power Supply Units
dimensions, 44
382
PROGRAM mode, 99
Programming Devices
models, 32
protection
using passwords, 118
protocols, 9
PRV(881) instruction, 152, 222
pulse outputs, 170
PULS(886) instruction, 184, 196
pulse outputs, 170
pulse and direction inputs, 153
pulse counter timer, 178, 188
example, 194
specifications, 179
Index
pulse inputs, 148
applicable instructions, 152
application examples, 162
connections, 71
high-speed counter, 153
internal circuit configuration, 152
mode, 204
specifications, 148, 150
Pulse Output Completed Flag, 357
pulse output direction priority mode, 183
Pulse Output Flag, 357
pulse output instructions
execution times, 370
Read/Write DM Area, 96
refreshing
END, 222, 228
immediate, 222, 228
immediate refreshing, 279
Relative Pulse Output, 21
replacing Modules, 261
RS, 347
RS-232C port
connecting a personal computer, 235
specifications, 66
wiring, 64
RS-232C Port Communications Error Flag, 347, 350
Pulse Output Set Flag, 357
RS-232C Port Error Flags, 347
Pulse Output Status Flags, 334
RS-232C Port Reception Completed Flag, 347, 350
pulse outputs, 167
accelerating frequency, 190
applicable instructions, 170
bit pattern outputs, 182
changing frequency, 190
connections, 73
details, 167
instructions, 170
interrupts, 140
modes, 168
number of, 169
one-shot, 169, 176, 188
operation modes, 194
operations, 173
precautions, 175
PV storage location, 169
range comparison, 182
signals, 169
specifications, 168, 169
startup conditions, 194, 196
target-value comparison interrupts, 179
with acceleration/deceleration, 185
trapezoidal, 187
without acceleration/deceleration, 184, 186
absolute positioning, 191
positioning, 189
RS-232C Port Reception Overflow Flag, 347, 350
PV Overflow/Underflow Flag, 340, 341, 355
R
RAM memory, 360
range comparison, 156
bit pattern outputs, 182
Range Comparison Execution Results Flags, 343
read protection using passwords, 118
RS-232C Port Send Ready Flag, 347, 350
RS-232C Port Settings Changing Flag, 347, 350
RS-422A Port Communications Error Flag, 347, 351
RS-422A Port Error Flags, 347, 351
RS-422A Port Reception Completed Flag, 347, 351
RS-422A Port Reception Overflow Flag, 347, 351
RS-422A Port Send Ready Flag, 347
RS-422A Port Settings Changing Flag, 347, 351
RUN mode, 99
S
safety precautions
See precautions
sample programs
connecting W-series Servo Driver, 209
Screw-less Clamp Terminal Blocks
wiring, 76, 79
sequence control instructions
execution times, 363
serial communications, 9
functions, 124
protocols, 9
serial communications instructions
execution times, 372
Serial Gateway, 3, 9, 12, 125, 134
Smart Active Parts, 135
system configuration, 134
System Setup, 135
Serial PLC Link Bit Area, 303
Serial PLC Links, 9, 11, 124, 132
383
Index
operation procedure, 133
PLC Setup (Master), 134
System Setup (Slave), 134
Servo Drivers
compatible with absolute encoder, 207
compatible with absolute encoders
timing chart, 209
functions
compatible with absolute encoders, 199
Servo Relay Units, 6
dimensions, 45, 79
functions, 76
models, 32
nomenclature, 76
wiring, 75
example, 82
setup
initial setup, 14
preparations for operation, 13
short-circuit protection, 89
signed binary data, 276
Slot No. of Motion Control Module for DM Transfer, 113
Smart Active Parts, 12
communications settings, 135
SMARTSTEP Servo Drivers, 6, 12
software reset, 155
special math instructions
execution times, 368
specifications
functions, 35
general, 32
I/O, 37, 40
Motion Control Modules, 37
performance, 39
Power Supply Unit, 33
RS-232C port, 66
SPED(885) instruction, 184, 190
pulse outputs, 170
speed change cycle, 183
speed control
operations, 21
stack processing
execution times, 369
startup, 94
startup mode
specifying, 118
STC(040) instruction, 308
Step Flag, 347, 349
step instructions
384
execution times, 371
step programming, 286
STIM(980) instruction, 188
Subroutine Input Condition Flags, 265, 344, 349
subroutine instructions
execution times, 369
subroutines, 286
super capacitors, 47
Support Software
See personal computer
switch settings, 15
symbol math instructions
execution times, 366
Sync Cycle Time, 19, 111
Sync Cycle Time Too Long Flag, 346, 350
sync cycles, 19
Sync Mode, 19, 96, 97, 104, 109
constant cycle time, 115
synchronization
between Modules, 109
operations, 19
Synchronization between Modules, 111
synchronous data
selecting, 112
Synchronous Data Link Bit Area, 19, 20, 106, 109, 110,
303
synchronous refreshing, 105
system configuration, 4
Host Link, 10
NT Links, 10
serial communications, 9
System Flags, 344
System Setup, 93, 96, 310
analog I/O, 218
constant cycle time, 326
Coordinator Modules, 111, 311
fixed peripheral servicing time, 327
Motion Control Modules, 112
overview, 311
peripheral port settings, 325
RS-232C port settings, 325
Serial Gateway, 135
startup mode, 325
watch cycle time, 326
System Setup Error Flag, 249, 345, 349, 350
System Setup Error Location, 345
Index
T
table data processing instructions
execution times, 369
Target Comparison Flag, 357
W
watch cycle time, 116
Windows, 235
Timeout Error Flag, 350, 351
wiring, 13, 15
examples, 71
I/O devices, 87
installing wiring ducts, 53
methods, 74
noise reduction, 86
Power Supply Units, 60
precautions, 50, 85, 89
output surge current, 90
RS-232C port, 64
Screw-less Clamp Terminal Blocks, 76, 79
wire size, 75
Timer Area, 305
Work Area, 304
Timer Completion Flags, 361
Work Areas (in CIO Area), 303
timer instructions
execution times, 363
W-series Servo Drivers, 6, 12
absolute encoder type
connections, 72
sample program, 209
Target Comparison In-progress Flag, 340, 341, 355
Target Frequency Not Reached Flag, 357
target-value comparison, 155
interrupts, 162, 179
Task Error Flag, 344, 350
Temporary Relay Area, 304
terminal screws, 61
text strings
operands, 275
timing
controlling, 28
Toolbus (Peripheral Bus), 9, 125
connections, 65
Trace Busy Flag, 351
Trace Completed Flag, 351
Trace Trigger Monitor Flag, 351
Transfer Busy Flag, 113, 346, 352
Transfer Error Flag, 113, 346, 352
trapezoidal acceleration/deceleration, 193
two-wire DC sensors
precautions, 88
U
UM Error Flag, 345, 350
UM Overflow Error Flag, 344, 350
Underflow Flag, 308
unsigned binary data, 276
upwardly differentiated instructions, 279
V
virtual pulse outputs, 212
application example, 215
AXIS instruction, 213
385
Index
386
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Cat. No. O010-E1-01
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code
01
Date
November 2004
Revised content
Original production
387
388
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O010-E1-01 11/05
©2005 OMRON ELECTRONICS LLC
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Specifications subject to change without notice.